摘要
针对液压四足机器人在运动过程中的机身扰动较大的问题,提出基于运动学和虚拟模型的液压四足机器人机身扰动抑制策略。分析机器人机身扰动产生的机理及其影响,建立四足机器人整机运动学方程,根据机器人实时姿态反馈抑制机身扰动。同时在机器人机身横滚和俯仰自由度上引入弹簧阻尼虚拟元件,通过调整虚拟力的大小控制机身姿态。面向机器人对角小跑步态,对机器人摆动相和支撑相进行足端轨迹规划。通过液压四足机器人平台进行实验验证,实验结果表明,该扰动抑制策略能够根据机器人的机身姿态调整关节角度,机器人机身起伏小,机器人实际运动轨迹与理论运动轨迹接近,验证了所提方法的有效性。
Aiming at the problem of large torso disturbance of hydraulic quadruped robot in locomotion,the torso disturbance inhibition strategy for the hydraulic quadruped robot based on kinematics and virtual model is proposed.In this study,the generation mechanism of the torso disturbance and its influence are analyzed.The kinematic equation of the whole quadruped robot is established.The torso disturbance is suppressed according to the real-time attitude feedback of the robot.The virtual spring-damper elements are introduced in the degrees of freedom of rolling and pitching of the torso,and the virtual force is adjusted to control the torso attitude.Facing to the trot gait of the robot,the foot end trajectory planning of the robot in the swing phase and support phase is carried out.Experiment verifications were carried out on the hydraulic quadruped robot test platform.The experiment results show that the proposed disturbance inhibition strategy could adjust the joint angle according to the torso attitude of the robot,the fluctuation of the robot torso is small and the actual locomotion trajectory of the robot is close to its theoretical one,which verifies the effectiveness of the proposed disturbance inhibition strategy.
作者
任东一
邵俊鹏
孙桂涛
何靖烨
Ren Dongyi;Shao Junpeng;Sun Guitao;He Jingye(College of Mechanical and Power Engineerings Harbin University of Science and Technology,Harbin 150080,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2019年第4期163-171,共9页
Chinese Journal of Scientific Instrument
作者简介
任东一,2014年于哈尔滨理工大学获得学士学位,现为哈尔滨理工大学博士研究生,主要研究方向为液压四足机器人。E-mail:rendongyi1993@163.com;通信作者:邵俊鹏,分别在1982年、1987年和1991年于哈尔滨工业大学获得学士学位、硕士学位和博士学位,现为哈尔滨理工大学教授,主要研究方向为液压传动与控制。E-mail:sjp0323@163.com.
