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基于模型的四足機(jī)器人步態(tài)轉(zhuǎn)換控制研究
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云南省科技廳基礎(chǔ)研發(fā)計(jì)劃-青年基金項(xiàng)目(202301AU070059)和昆明理工大學(xué)人才培養(yǎng)項(xiàng)目(KKZ320230104)


Model Based Gait Transition Control for Quadruped Robots
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    摘要:

    為了解決基于模型的控制方法在四足機(jī)器人步態(tài)轉(zhuǎn)換過程中穩(wěn)定控制問題,,本文在仿生學(xué)和機(jī)構(gòu)學(xué)基礎(chǔ)上設(shè)計(jì)了一款四足機(jī)器人樣機(jī)平臺(tái),,并推導(dǎo)了機(jī)器人單腿運(yùn)動(dòng)學(xué)模型。在足端可達(dá)工作空間內(nèi)規(guī)劃了機(jī)器人抬腿高度和邁步步長(zhǎng),,利用理想的復(fù)合擺線軌跡,,通過合理控制步態(tài)周期,提出了一種過渡段變周期控制方法,,實(shí)現(xiàn)了步態(tài)轉(zhuǎn)換前后定速度控制和變步長(zhǎng)控制,,保證了步態(tài)轉(zhuǎn)換前后速度不變或可變。為了驗(yàn)證所提算法的正確性和穩(wěn)定性,,分別開展了單腿足端軌跡實(shí)驗(yàn)和整機(jī)步態(tài)轉(zhuǎn)換實(shí)驗(yàn),。在完成整機(jī)運(yùn)動(dòng)控制的基礎(chǔ)上,,對(duì)比了基于模型的控制方式和基于中樞模式發(fā)生器的控制方式在四足機(jī)器人步態(tài)轉(zhuǎn)換過程的應(yīng)用。仿真和實(shí)驗(yàn)結(jié)果表明,,在基于模型的控制算法下,,四足機(jī)器人可以實(shí)現(xiàn)步態(tài)的平滑轉(zhuǎn)換,且速度能伴隨步長(zhǎng)和周期的變化實(shí)現(xiàn)調(diào)節(jié),,滿足了不同速度下的行走要求,,為四足機(jī)器的運(yùn)動(dòng)控制提供了參考。

    Abstract:

    In order to solve the problem of stable control in the gait transition process of quadruped robots by using model-based control methods, a quadruped robot prototype platform was designed based on bionics and mechanics, and the robot's single leg kinematic model was derived. The robot's leg height and step length were planned within the reachable workspace at the foot end. By using an ideal compound cycloid trajectory and controlling the gait period reasonably, a transition period variable control method was proposed, which achieved fixed speed control and variable step length control before and after gait transition, ensuring that the speed remained unchanged or variable before and after gait transition. In order to verify the correctness and stability of the proposed algorithm, single leg foot trajectory experiments and whole machine gait transformation experiments were conducted, respectively. On the basis of completing the overall motion control, the application of model-based control and central pattern generator based control in the gait transition process of quadruped robots was compared. The simulation and experimental results showed that under the model-based control algorithm, the quadruped robot can achieve smooth gait transformation, and the speed can be adjusted with changes in step size and period, meeting the walking requirements at different speeds, providing a reference for the motion control of quadruped robots.

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陳久朋,李春磊,傘紅軍,康偉,巴光玉,楊曉園.基于模型的四足機(jī)器人步態(tài)轉(zhuǎn)換控制研究[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2024,55(3):431-440,451. CHEN Jiupeng, LI Chunlei, SAN Hongjun, KANG Wei, BA Guangyu, YANG Xiaoyuan. Model Based Gait Transition Control for Quadruped Robots[J]. Transactions of the Chinese Society for Agricultural Machinery,2024,55(3):431-440,451.

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  • 收稿日期:2023-12-13
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  • 在線發(fā)布日期: 2024-01-22
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