Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (4): 1506-1517.doi: 10.13229/j.cnki.jdxbgxb20200247

Previous Articles    

Weight adaptive control for trotting gait of load-carrying quadruped walking vehicle

Yong-ying TAN1(),Shan-zhen YI1,Da-bing XUE2,Xiao-ming WANG1,Lei YUAN3   

  1. 1.Beijing Special Engineering and Design Institute，Beijing 100028，China
    2.Department of Automobile Engineering，Academy of Army Armored Forces，Beijing 100072，China
    3.Beijing Special Vehicle Research Institute，Beijing 100072，China
  • Received:2020-04-16 Online:2021-07-01 Published:2021-07-14

RICH HTML

 4   

PDF (PC)

162

Abstract:

Aiming at the control problems when load-carrying quadruped walking vehicle weight changes, a control method based on centroidal dynamics and adaptive sliding mode control method was proposed. The control of the walking vehicle was divided into two parts: the control of the torso and the control of swinging legs. The centroidal dynamics and task space PD control method were applied to the torso motion control, and the virtual model control method was applied to the motion control of the swinging legs. Then, the adaptive sliding mode control algorithm was applied in the height direction of the vehicle to realize the adaptation to weight changes and the weight recognition. The tracking accuracy of the forward speed and lateral speed was improved by combining the centroidal dynamics. Adams and Simulink were used to simulate the trotting gait on flat ground and slope when the weight of walking vehicle changes, and comparisons were made with the virtual model control method. The results show that the centroidal dynamic and adaptive sliding mode control algorithm realizes the weight adaptability of the vehicle, and reduces tracking errors of the forward speed and lateral speed, which proves the effectiveness of the proposed control method.

Key words: electromechanical engineering, load-carrying quadruped walking vehicle, centroidal dynamics, adaptive sliding model control, trotting gait

CLC Number: 

  • TP242.6

Fig.1

Model and structural parameters of quadruped walking vehicle"

Table 1

Related parameters of walking vehicle"

参数参数说明数值
mb/kg机身质量（无负载）150
2n/m前、后方向腿基坐标系之间距离0.95
2w/m左、右方向腿基坐标系之间距离0.35
h/m重心坐标系与腿基坐标系之间垂直距离0.09
m1/kg髋侧摆段质量6
m2/kg大腿质量4.5
m3/kg小腿质量4.5
l1/m髋侧摆段长度0.085
l2/m大腿长度0.31
l3/m小腿长度0.3

Fig.2

Number and coordinate systems of each link and joint of walking vehicle"

Fig.3

Virtual model control of swinging legs"

Fig.4

Control block of walking vehicle"

Fig.5

Influence of the value of λ on control effect"

Fig.6

Influence of value of η on control effect"

Fig.7

Influence of value of D on control effect"

Fig.8

Influence of value of γ1 on control effect"

Fig.9

Screenshots of walking vehicle on flat ground"

Fig.10

Changes of related parameters of walking vehicle on flat ground"

Fig.11

Speed tracking error of walking vehicle"

Fig.12

Screenshots of trotting on slope of walking vehicle"

Fig.13

Changes of related parameters of walking vehicle on slope"

1 Hu Nan, Li Shao-yuan, Gao Feng. Multi-objective hierarchical optimal control for quadruped rescue robot[J]. International Journal of Control Automation & Systems, 2018(1): 1-12.
2 韩宝玲, 赵锐, 罗庆生, 等. 基于粒子群算法的四足机器人静步态优化方法[J]. 北京理工大学学报, 2017, 37(5): 461-465.
Han Bao-ling, Zhao Rui, Luo Qing-sheng, et al. Static gait optimization method for quadruped robot based on particle swarm optimization algorithm[J]. Transactions of Beijing Institute of Technology, 2017, 37(5): 461-465.
3 丁良宏. BigDog四足机器人关键技术分析[J]. 机械工程学报, 2015, 51(7): 1-23.
Ding Liang-hong. Key technology analysis of BigDog quadruped robot[J]. Journal of Mechanical Engineering, 2015, 51(7): 1-23.
4 Raibert M, Blankespoor K, Nelson G, et al. Bigdog, the rough-terrain quadruped robot[C]∥Proceedings of the 17th IFAC World Congress, Laxenburg, Austria, 2008: 10822-10825.
5 Michael K. Meet Boston dynamics' LS3-the latest robotic war machine[Z/OL].[2015-07-29]. .
6 Raibert M H. Legged Robots That Balance[M]. Cambridge: The MIT Press, 1986: 29-55.
7 Ring rose R. Automatically tuning control systems for Simulated legged robots[C]∥Proceedings of the AAAI'94, Seattle, WA, 1994: 1297-1302.
8 Pratt J E. Virtual model control of a biped walking robot[D]. Boston, USA: Massachusetts Institute of Technology, 1995.
9 张国腾, 荣学文, 李贻斌, 等.基于虚拟模型的四足机器人对角小跑步态控制方法[J]. 机器人, 2016, 38(1): 65-74.
Zhang Guo-teng, Rong Xue-wen, Li Yi-bin, et al. Control of quadrupedal trotting based on virtual model[J]. Robot, 2016, 38(1): 65-74.
10 柴汇, 荣学文, 唐兴鹏, 等. 基于能量规划的崎岖地面四足机器人平面跳跃控制[J]. 吉林大学学报:工学版, 2017, 47(2): 557-566.
Chai Hui, Rong Xue-wen, Tang Xing-peng, et al. Gait based hopping control of quadruped robot on uneven terrain with energy planning[J]. Journal of Jilin University(Engineering and Technology Edition), 2017, 47(2): 557-566.
11 陈腾, 李贻斌, 荣学文. 四足机器人动步态下实时足底力优化方法的设计与验证[J]. 机器人, 2019, 41(1): 1-10.
Chen Teng, Li Yi-bin, Rong Xue-wen. Design and verification of real time plantar force optimization for quadruped robots in dynamic gait[J]. Robot, 2019, 41(1): 1-10.
12 Chew C M, Pratt G A. Adaptation to load variations of a planar biped: Height control using robust adaptive control[J]. Robotics and Autonomous Systems, 2001, 35(1):1-22.
13 Li Zhi-jun, Ge Shu-zhi. Adaptive robust controls of biped robots[J]. IET Control Theory & Applications, 2013, 7(2): 161-175.
14 Orin D E, Goswami A, Lee S H. Centroidal dynamics of a humanoid robot[J]. Autonomous Robot, 2013, 35(2): 161-176.
15 Focchi M, Prete A, Havoutis I, et al. High-slope terrain locomotion for torque-controlled quadruped robots[J]. Autonomous Robots, 2017, 41(1): 259-272.
16 Winkler A W, Bellicoso C D, Hutter M, et al. Gait and trajectory optimization for legged systems through phase-based end-effector parameterization[J]. IEEE Robotics & Automation Letters, 2018, 3(3): 1560-1567.
17 Featherstone R, Orin D E. Chapter 2: Dynamics, in Springer Handbook of Robotics[M]. New York: Springer, 2008: 35-62.
18 Roberson R E, Schwertassek R. Dynamics of Multibody Systems[M]. Berlin: Springer, 1988.
19 Wensing P M, Orin D E. Improved computation of the humanoid centroidal dynamics and application for whole-body control[J]. International Journal of Humanoid Robotics, 2016, 13(1): 1-23.
20 Lee S H, Goswami A. A momentum-based balance controller for humanoid robots on non-level and non-stationary ground[J]. Autonomous Robots, 2012, 33(4): 399-414.
21 Winkler A W, Bellicoso C D, Hutter M,et al. Gait and trajectory optimization for legged systems through phase-based end-effector parameterization[J]. IEEE Robotics & Automation Letters, 2018, 3(3):1560-1567.
22 Gehring C, Coros S, Hutter M, et al. Practice makes perfect: an optimization-based approach to controlling agile motions for a quadruped robot[J]. IEEE Robotics & Automation Magazine, 2016, 23(1): 34-43.
23 Chen Teng, Sun Xiao-bo, Xu Ze, et al. A trot and flying trot control method for quadruped robot based on optimal foot force distribution[J]. Journal of Bionic Engineering, 2019, 16(4): 621-632.
24 Zhang Guo-teng, Rong Xue-wen, Chai Hui, et al. Torso motion control and toe trajectory generation of a trotting quadruped robot based on virtual model control[J]. Advanced Robotics, 2015,30(4): 284-297.
25 Slotine J J E, Coetsee J A. Adaptive sliding controller synthesis for non-linear systems[J]. International Journal of Control, 2007, 38(2): 1631-1651.
[1] LI Man-tian, JIANG Zhen-yu, WANG Peng-fei, SUN Li-ning. Trotting gait control of quadruped robot with straight legs based on virtual elements [J]. 吉林大学学报(工学版), 2015, 45(5): 1502-1511.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd