负载型四足步行平台静步态行走虚拟模型控制
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摘要
为实现负载型四足步行平台静步态柔顺行走,减小控制方法的复杂程度,提出了一种基于机体虚拟模型的步行平台静步态行走控制方法。将平台静步态行走控制分为支撑阶段足端力的求解、摆动腿的运动控制及机体运动控制三部分。对于静步态行走支撑阶段中存在的三足及四足支撑阶段,分别在平台整体受力分析基础上,通过添加相应的约束条件,实现了其各方向的力可控。通过在摆动腿足端实际位置与理想位置之间添加虚拟的弹簧阻尼元件实现了足端轨迹跟踪准确性及足端着地时的柔顺性。通过在机体实际位置及期望位置之间添加相应的虚拟弹簧阻尼元件,结合平台机体轨迹规划实现其静步态行走。并通过机动平台平地及爬越台阶静步态行走仿真验证了控制算法的有效性。
To realize the static gait of load carrying quadruped walking vehicle,an approach was put forward on the basis of the torso virtual model,which can reduce the complexity of control. The controller was divided into three modules: Foot-end force calculation of supporting phase,motion control of swing leg and torso virtual model control. Based on the force analysis of three-leg and four-leg supporting phase,the decoupling of vehicle control in all directions were achieved by adding constraints. Through addition of virtual spring-damper elements between real position and target position of the swing leg,foot-end trajectory tracking accuracy and compliance of landing were realized. By adding virtual spring-damper elements between the torso actual position and ideal position,the static gait of quadruped walking vehicle was realized combined with planning of body moving trajectory. Finally,effectiveness of control method was verified through the vehicle's simulation of walking on flat plate and climbing up stairs.
To realize the static gait of load carrying quadruped walking vehicle,an approach was put forward on the basis of the torso virtual model,which can reduce the complexity of control. The controller was divided into three modules: Foot-end force calculation of supporting phase,motion control of swing leg and torso virtual model control. Based on the force analysis of three-leg and four-leg supporting phase,the decoupling of vehicle control in all directions were achieved by adding constraints. Through addition of virtual spring-damper elements between real position and target position of the swing leg,foot-end trajectory tracking accuracy and compliance of landing were realized. By adding virtual spring-damper elements between the torso actual position and ideal position,the static gait of quadruped walking vehicle was realized combined with planning of body moving trajectory. Finally,effectiveness of control method was verified through the vehicle's simulation of walking on flat plate and climbing up stairs.
引文
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14刘斌,荣学文,柴汇.基于虚拟模型的四足机器人缓冲策略.机器人,2016;38(6):659-669Liu Bin,Rong Xuewen,Chai Hui.A buffering strategy for quadrupedal robots based on virtual model control.Robot,2016;38(6):659-669
15 Zhang S S,Rong X W,Li Y B,et al.A composite COG trajectory planning method for the quadruped robot walking on rough terrain.International Journal of Control and Automation,2015;8(9):101-118
16张国腾,荣学文,李贻斌,等.基于虚拟模型的四足机器人对角小跑步态控制方法.机器人,2016;38(1):65-74Zhang Guoteng,Rong Xuewen,Li Yibin,et al.Control of quadrupedal trotting based on virtual model.Robot,2016;38(1):65-74
2 Mc Ghee R B,Frank A A.On the stability properties of quadruped creeping gaits.Mathematical Biosciences,1968;3(1):331-351
3 Song S M,Waldron K J.An analytical approach for gait study and its applications on wave gaits.The International Journal of Robotics Research,1987;6(2):60-71
4 Mastalli C,Focchi M,Havoutis I,et al.Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion.IEEE International Conference on Robotics and Automation.Singapore:IEEE,2017:1096-1103
5 Kalakrishnan M,Buchli J,Pastor P,et al.Learning,planning,and control for quadruped locomotion over challenging terrain.International Journal of Robotic Research,2011;30(2):236-258
6 Winkler A W,Mastalli C,Havoutis I,et al.Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain.IEEE International Conference on Robotics and Automation.Washington,D.C.:IEEE,2015:5148-5154
7 Winker A W,Havoutis I,Bazeille S,et al.Path planning with forcebased foothold adaptation and virtual model control for torque controlled quadruped robots.IEEE International Conference on Robotics and Automation.Piscataway:IEEE,2014:6476-6482
8 Wang P F,Li M T,Sun L N.Body posture control of wheeled foot quadruped robot based on virtual suspension model.Intelligent Robotics and Applications.Berlin:Springer Berlin Heidelberg,2008:834-843
9 Pratt J.Virtual model control:An intuitive approach for bipedal locomotion.International Journal of Robotics Research,2001;20(2):129-143
10 Zhang G T,Rong X W,Chai H,et al.Torso motion control and toe trajectory generation of a trotting quadruped robot based on virtual model control.Advanced Robotics,2016;30(4):284-297
11 Torres A L.Virtual model control of a hexapod walking robot.Massachusetts:Massachusetts Institute of Technology,1996
12 Craig J J.Introduction to robotics:Mechanics and control.Boston:Addison-Wesley Publishing Company,1986:106-128
13 Pratt J.Virtual model control of a biped walking robot.Massachusetts:Massachusetts Institute of Technology,1995
14刘斌,荣学文,柴汇.基于虚拟模型的四足机器人缓冲策略.机器人,2016;38(6):659-669Liu Bin,Rong Xuewen,Chai Hui.A buffering strategy for quadrupedal robots based on virtual model control.Robot,2016;38(6):659-669
15 Zhang S S,Rong X W,Li Y B,et al.A composite COG trajectory planning method for the quadruped robot walking on rough terrain.International Journal of Control and Automation,2015;8(9):101-118
16张国腾,荣学文,李贻斌,等.基于虚拟模型的四足机器人对角小跑步态控制方法.机器人,2016;38(1):65-74Zhang Guoteng,Rong Xuewen,Li Yibin,et al.Control of quadrupedal trotting based on virtual model.Robot,2016;38(1):65-74