四足机器人跳跃步态控制方法

doi:10.6040/j.issn.1672-3961.0.2014.328

山东大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (3): 28-34.doi: 10.6040/j.issn.1672-3961.0.2014.328

四足机器人跳跃步态控制方法

孟健, 李贻斌, 李彬

山东大学控制科学与工程学院, 山东济南 250061

收稿日期:2014-11-18 修回日期:2015-04-24 出版日期:2015-06-20 发布日期:2014-11-18
通讯作者: 李贻斌(1960- ),男,山东聊城人,教授,博士,博导,主要研究方向为智能机器人,特种机器人,智能车辆,智能控制和机电一体化.E-mail:liyb@sdu.edu.cn E-mail:liyb@sdu.edu.cn
作者简介:孟健(1986- ),山东济南人,男,博士研究生,主要研究方向为四足机器人控制系统.E-mail: 511906589@qq.com
基金资助:
国家自然科学基资助项目 (61233014,61305130);山东省自然科学基金资助项目(ZR2013FQ003,ZR2013EEM027);中国博士后科学基金资助项目 (2013M541912)

Bound gait controlling method of quadruped robot

MENG Jian, LI Yibin, LI Bin

School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China

Received:2014-11-18 Revised:2015-04-24 Online:2015-06-20 Published:2014-11-18

摘要/Abstract

摘要： 针对四足机器人的奔跑控制问题,提出一种基于跳跃(Bound)步态的奔跑控制方法,通过腿部的快速小幅度摆动实现四足机器人的Bound步态。使用有限状态机将机器人的一个运动周期分为6个阶段,其中前腿与后腿各3个阶段,触地缓冲阶段采用竖直弹簧阻尼模型,蹬地阶段使用虚拟模型调整腿部对地推力方向,摆动相使用贝赛尔曲线规划足端轨迹。通过在动力学仿真软件中构建与液压驱动四足机器人SCalf-II同尺寸、同质量的虚拟样机对所提出的方法进行仿真验证与测试,结果表明机器人在5个周期后形成了有较强周期性的Bound步态,前进方向速度波动较小,各关节运动范围、速度、力矩均在SCalf-II设计指标之内,从而验证了该方法的正确性和有效性。

关键词: 四足机器人, 跳跃步态, 控制方法, 贝赛尔曲线, 弹簧阻尼模型, 弹簧负载倒立摆模型

Abstract: Aiming at the problem of running control of quadruped robot, a running control method based on bound gait was proposed. The bound gait of the quadruped robot was implemented by fast and small range swing motion of the legs. A finite state machine was used to separate one complete cycle of motion into six stages, three stages for fore legs and three for hind legs respectively. In contact and buffering stage, vertical spring-damper model was used; in thrust stage, virtual model was used to adjust the thrust direction of the legs; and in swing stage, Bezier curve was used to plan the trajectory of the toes. By constructing a virtual model with the same size and mass with the hydraulic driven quadruped robot SCalf-II in the dynamics simulation software, the control method was verified and tested, simulation results showed that the robot came into a cyclic bounding motion with strong periodicity after five periods, the speed vibration in forward direction was small, the joint range of motion, speed and torque were all within the range of the design objective of SCalf-II, which verified the correctness and effectiveness of the proposed method.

Key words: bound gait, control method, spring loaded inverted pendulum model, spring-damper model, Bezier curve, quadruped robot

中图分类号:

TP242.6

孟健, 李贻斌, 李彬. 四足机器人跳跃步态控制方法[J]. 山东大学学报(工学版), 2015, 45(3): 28-34.

MENG Jian, LI Yibin, LI Bin. Bound gait controlling method of quadruped robot[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2015, 45(3): 28-34.

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四足机器人跳跃步态控制方法

Bound gait controlling method of quadruped robot

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