吉林大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (2): 557-566.doi: 10.13229/j.cnki.jdxbgxb201702030

• 论文 • 上一篇    下一篇

基于能量规划的崎岖地面四足机器人平面跳跃控制

柴汇1, 荣学文1, 唐兴鹏1, 李贻斌1, 张勤2, 李岳炀2   

  1. 1.山东大学 控制科学与工程学院,济南 250061;
    2.济南大学 自动化与电气工程学院, 济南 250022
  • 收稿日期:2015-09-28 出版日期:2017-03-20 发布日期:2017-03-20
  • 通讯作者: 荣学文(1973-),男,高级工程师.研究方向:液压传动,机器人控制.E-mail:rongxw@sdu.edu.cn
  • 作者简介:柴汇(1983-),男,博士研究生.研究方向:机器人控制.E-mail:pigging.chai@gmail.com
  • 基金资助:
    “863”国家高技术研究发展计划项目(2015AA042201); 国家自然科学基金项目(61233014); 国家自然科学基金青年科学基金项目(61203083,61503153); 山东省自然科学基金项目(ZR2013EEM027).

Gait based planar hopping control of quadruped robot on uneven terrain with energy planning

CHAI Hui1, RONG Xue-wen1, TANG Xing-peng1, LI Yi-bin1, ZHANG Qin2, LI Yue-yang2   

  1. 1.School of Control Science and Engineering, Shandong University, Jinan 250061,China;
    2.School of Electrical Engineering, Jinan University, Jinan 250022, China
  • Received:2015-09-28 Online:2017-03-20 Published:2017-03-20

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摘要： 针对四足机器人传统奔跑控制方法中存在的俯仰角波动以及崎岖地形适应问题,提出了一种基于Trot具有前后脚同时支撑步态的崎岖地形跳跃控制方法。建立了步态支撑相平面运动模型,并通过虚拟模型控制,实现了躯干平面运动控制解耦。对虚拟模型中躯干的运动过程进行了能量规划,计算出纵向虚拟位置刚度,实现了跳跃周期控制;通过水平方向虚拟力的比例控制实现了机器人水平运动速度控制;采用大位置误差增益的PD控制方法实现了躯干姿态控制,保证了跳跃过程中躯干俯仰角的稳定。在虚拟物理仿真环境中建立了四足机器人的平面虚拟样机,对控制方法进行了仿真实验以及在假设条件不满足情况下的鲁棒性测试,仿真实验结果表明了该方法对跳跃控制的有效性。

关键词: 自动控制技术, 机器人控制, 平面跳跃控制, 能量规划, 虚拟模型, 主动阻抗

Abstract: To make a quadruped robot run on rough terrain with less vibration on the pitch angle of the torso, a gait based hopping control approach with a passive joint is proposed. A planar kinematic model is built based on the supporting phase with at least one front stance leg and one rear stance leg, such as trotting gait. The control of 3-dof planar movements of the torso is decoupled by the virtual model and force distribution control. In the hopping control, the hopping cycle is controlled by the energy planning and active independence control on vertical direction, the horizontal velocity is controlled by a proportion control, and the pitch angle is held by a position control with high gain. The control approach and its robustness are verified by the experiments in virtual physical simulation environment.

Key words: automatic control technology, robot control, planar hopping control, energy planning, virtual model, active independence

中图分类号: 

  • TP242.6
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