四足机器人对角小跑步态控制策略分析
收稿日期: 2016-02-21
网络出版日期: 2017-12-30
基金资助
国家自然科学基金资助项目(51375289); 上海市自然科学基金资助项目(13ZR1415500); 上海市教委科研创新资助项目(13YZ020)
Control of quadruped robot with trot gait
Received date: 2016-02-21
Online published: 2017-12-30
基于动力学模型的四足机器人运动控制, 难以实现适应非结构化环境的稳定步行. 开展了基于中枢模式发生器控制策略的四足机器人对角小跑步态仿真分析与实验研究. 采用正弦函数规划了四足机器人的足端期望轨迹, 采用D-H 坐标法进行四足机器人腿摆动相和支撑相的运动学分析, 由运动学逆解获得四足机器人足端期望轨迹和关节角位移间的关系. 设计了中枢模式发生器的神经振荡器控制器, 建立由兴奋神经元和抑制神经元组成的振荡单元模型,输出振荡波控制四足机器人髋关节和膝关节. 通过开展四足机器人对角小跑步态步行仿真和实验研究, 验证了理论分析和控制方法的正确性, 为提高四足机器人机动性奠定基础.
雷静桃, 贾光辉 . 四足机器人对角小跑步态控制策略分析[J]. 上海大学学报(自然科学版), 2017 , 23(6) : 882 . DOI: 10.12066/j.issn.1007-2861.1800
It is difficult to achieve movement control stable walking of a quadruped robot based on the dynamics model, when the robot walks in an unstructured environment. In this paper, central pattern generators (CPGs) are used to control the quadruped robot with a trot gait. Simulation and experiment are performed. The foot trajectory of quadruped robot is planned with a sinusoidal function. The D-H coordinate method is used to analyze kinematics of the quadruped robot’s leg in the swing phase and the supporting phase. Joint angular displacement is obtained with inverse kinematics according to the planned foot trajectory. A CPG controller is designed, and an oscillation element model established with excited neurons and inhibiting neuronal components. The output is used to control
movement of the hip joint and knee joint of the quadruped robot. Simulation and experiment of the quadruped robot walking with a trot gait are performed to verify correctness of the theoretical analysis and the control method. The study lays a foundation for improving mobility of quadruped robots.
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