吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (5): 1502-1511.doi: 10.13229/j.cnki.jdxbgxb201505019

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基于多虚拟元件的直腿四足机器人Trot步态控制

李满天, 蒋振宇, 王鹏飞, 孙立宁   

  1. 哈尔滨工业大学 机器人技术与系统国家重点实验室,哈尔滨 150080
  • 收稿日期:2014-01-15 出版日期:2015-09-01 发布日期:2015-09-01
  • 通讯作者: 王鹏飞(1977-),男,副教授,博士.研究方向:仿生机器人.E-mail:wangpengfei1007@163.com
  • 作者简介:李满天(1974-）,男,副教授,博士.研究方向:仿生机器人.E-mail:limt@hit.edu.cn
  • 基金资助:
    “863”国家高技术研究发展计划项目(2011AA040701); 国家自然科学基金项目(61375097,61175107)

Trotting gait control of quadruped robot with straight legs based on virtual elements

LI Man-tian, JIANG Zhen-yu, WANG Peng-fei, SUN Li-ning   

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
  • Received:2014-01-15 Online:2015-09-01 Published:2015-09-01

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摘要： 为了提高四足机器人在未知复杂地形下的快速平稳通过能力,基于直腿四足机器人模型对机器人着地相控制方法进行了研究。首先,针对在复杂路面下的运动工况,建立了直腿四足机器人的运动学和动力学模型。其次,基于弹簧负载倒立摆动力学特性,在机身多个自由度上引入弹性阻尼等虚拟元件,在着地相过程中实现了对包括前进等在内的多个机身运动自由度的控制。最后,在虚拟样机仿真中实现了机器人在平坦路面和复杂路面下的运动,验证了控制方法的正确性和有效性。通过对仿真结果的分析,总结出两种控制策略在运动平稳性、能耗水平和耦合运动等方面的优劣,为提高机器人在不同运行工况下的综合运动性能奠定了基础。

关键词: 自动控制技术, 四足机器人, 运动控制, 对角小跑步态

Abstract: To enhance the capability of fleet and smooth navigation of quadruped robot in unknown and complex terrain, a control method of quadruped robot with straight legs in stance phase is proposed. First, in terms of the motion condition on the complex terrain, the kinematics and dynamics models of the quadruped robot with straight legs are established. Then, on the basis of the dynamic characteristics of the Spring Loaded Inverted Pendulum (SLIP), virtual elastic and damping elements are introduced to the multi-DoFs of the torso to realize the control of these DoFs during stance phase, especially, in the forward movement. Finally, the control method is verified in simulation of the robot navigating on flat or complex ground. The performances of two control strategies developed are discussed in simulation to improve the synthesized performance of quadruped under different conditions.

Key words: automatic control technology, quadruped robot, locomotion control, trotting gait

中图分类号: 

  • TP273
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