摘要
针对具有2自由度主动脊柱关节的仿猎豹四足机器人,基于任务分解思想和生物神经系统机理,提出多模型融合的控制方法。该方法以弹簧负载倒立摆模型实现单腿跳跃控制,通过中枢模式发生器(CPG)实现4条腿之间以及脊柱―腿之间的协调控制,利用虚拟模型控制实现机器人与环境交互,采用基于CPG输出的有限状态机来融合3个控制模型,构建仿猎豹四足机器人的多模型分层运动控制器。参考猎豹脊柱运动特征,设计了机器人脊柱关节运动模式,给出脊柱与腿的协调控制策略。最后,在Webots仿真环境中搭建了仿猎豹四足机器人虚拟样机,实现了不同步态下的脊柱―腿的协调控制、在崎岖地形上稳定奔跑,以及平滑的对角―疾驰―对角步态转换,仿真结果验证了所提出的多模型融合的四足机器人运动控制方法的有效性。
For a cheetah-mimicking quadruped robot with 2-DOF(degree of freedom) active spine joints, a multi-model fusion based control approach is presented based on task decomposition principles and biological neural system mechanisms.In this approach, the spring loaded inverted pendulum model is used to realize the single leg jump control, the central pattern generator(CPG) is used to realize coordinated control among four legs and between the spine and legs, and the virtual model control is used to realize the interaction between the robot and environment. A CPG output-based finite state machine is adopted to coordinate the three control models, and a hierarchical multi-model fusion based controller is designed for the cheetah-mimicking quadruped robot. Referring to the motion characteristics of cheetah spine, the motion pattern of robot spine joints is designed, and the coordinated control strategies of the spine and legs are proposed. Finally, a virtual prototype of the cheetah-mimicking quadruped robot is built using Webots. The robot realizes the spine-legs coordinated control in different gaits, runs stably on rough terrains and achieves a smooth trot-gallop-trot gait transition. The simulation results verify the effectiveness of the multi-model fusion based motion control approach of the quadruped robot.
作者
张秀丽
王琪
黄森威
江磊
ZHANG Xiuli;WANG Qi;HUANG Senwei;JIANG Lei(School of Mechanical,Electronic and Control Engineering,Bejing Jiaotong University,Beijing 100044,China;China North Vehicle Research Institute,Beijing 100072,China)
出处
《机器人》
EI
CSCD
北大核心
2022年第6期682-693,707,共13页
Robot
基金
科技创新2030重大项目(2021ZD0201403)。
