基于能耗最优的多足机器人综合步态优化方法
|
摘要
为综合研究步态参数、摆动腿足端轨迹和机身运动轨迹对多足机器人步态稳定性和能耗的影响,文章提出一种基于能耗最优的多足机器人综合步态优化方法,将步态优化过程转换为两个嵌套的子优化问题。首先,采用一种基于零力矩点稳定性理论的机身运动轨迹规划方法,针对给定的下一步落足点和支撑多边形,规划机身运动轨迹,在保证机身轨迹连续平滑的同时,确保机器人在迈步过程中的稳定性。其次,提出一种基于能耗指标的周期性步态优化方法,建立足式机器人虚拟样机模型作为步态优化模型,对步态参数、摆动腿足端轨迹和机身运动轨迹同时进行优化,保证机器人的步态稳定性,得到使机器人前进单位距离能耗最小的步态。最后,搭建足式机器人虚拟样机仿真平台,仿真结果表明,采用本文的步态优化方法,在保证机器人平稳前进的同时,机器人前进单位距离能耗与优化前相比降低了约14%。
In order to study the effect of gait parameters,swing foot trajectory and body trajectory on gait stability and energy consumption of multi-legged robot,a composite gait optimization method for a multi-legged robot based on optimal energy consumption was proposed,which transformed the gait optimization process into two nested sub optimization problems.Firstly,a body trajectory planning method based on zero moment point stability theory was given.The bodytrajectory was planned according to the next footholds and the supporting polygon.The body trajectory was continuous,smooth and stable with respect to the zero moment Point(ZMP)stability theory.Secondly,aperiodic gait optimization method based on energy consumption index was proposed.In order to optimize the walking gait,the virtual prototype model of quadruped robot was established as the gait optimization model,and the gait parameters,the swing foot trajectory and the body trajectory were optimized simultaneously.Finally,the virtual prototype simulation platform of the quadruped robot was built,and the simulation results show that the energy consumption of the robot is reduced by about 14% through the gait optimization algorithm.
In order to study the effect of gait parameters,swing foot trajectory and body trajectory on gait stability and energy consumption of multi-legged robot,a composite gait optimization method for a multi-legged robot based on optimal energy consumption was proposed,which transformed the gait optimization process into two nested sub optimization problems.Firstly,a body trajectory planning method based on zero moment point stability theory was given.The bodytrajectory was planned according to the next footholds and the supporting polygon.The body trajectory was continuous,smooth and stable with respect to the zero moment Point(ZMP)stability theory.Secondly,aperiodic gait optimization method based on energy consumption index was proposed.In order to optimize the walking gait,the virtual prototype model of quadruped robot was established as the gait optimization model,and the gait parameters,the swing foot trajectory and the body trajectory were optimized simultaneously.Finally,the virtual prototype simulation platform of the quadruped robot was built,and the simulation results show that the energy consumption of the robot is reduced by about 14% through the gait optimization algorithm.
引文
[1]丁良宏.BigDog四足机器人关键技术分析[J].机械工程学报,2015,51(7):1-23.DING L H.Key technology analysis of BigDog quadruped robot[J].Journal of Mechanical Engineering,2015,51(7):1-23(in Chinese).
[2]杨亮,傅瑜,付根平,等.基于能效优化的仿人机器人跑步步态优化与控制[J].计算机科学,2016,43(6):270-275.YANG L,FU Y,FU G P,et al.Running gait planning and control for humanoid robot based on energy efficiency optimization[J].Computer Science,2016,43(6):270-275(in Chinese).
[3]VUKOBRATOVIC M,BOROVAC B.Zero-moment point—thirty five years of its life[J].International Journal of Humanoid Robotics,2004(1):157-73.
[4]CARON S,PHAM Q C,NAKAMURA Y.ZMP support areas for multi-contact mobility under frictional constraints[J].IEEE Transactions on Robotics,2015,99:1-14.
[5]ASCANI S,LIBERATI F,FARABI R,et al.Horse-like walking,trotting,and galloping derived from kinematic motion primitives(kMPs)and their application to walk/trot transitions in a compliant quadruped robot[J].Biological Cybernetics,2013,107(3):309-320.
[6]雷静桃,王峰,俞煌颖.四足机器人轨迹规划及移动能耗分析[J].机械设计与研究,2014,30(1):29-34.LEI J T,WANG F,YU H Y.Analysis on trajectory planning and energy consumption of quadruped robot[J].Machine Design and Research,2014,30(1):29-34(in Chinese).
[7]刘飞,陈小平.使用零力矩点轨迹规划的四足机器人步态进化方法[J].机器人,2010,32(3):398-404.LIU F,CHEN X P.Gait evolving method of quadruped robot using zero-moment point trajectory planning[J].Robot,2010,32(3):398-404(in Chinese).
[8]潘少鹏,施家栋,王建中,等.基于重心侧向摆动的四足机器人爬行步态优化[J].机械科学与技术,2015,34(6):821-826.PAN S P,SHI J D,WANG J Z,et al.Crawl gait optimization for quadruped robot based on gravity center lateral movement[J].Mechanical Science and Technology for Aerospace Engineering,2015,34(6):821-826(in Chinese).
[9]CHAE K G,PARK J H.Trajectory optimization with GA and control for quadruped robots[J].Journal of Mechanical Science&Technology,2009,23(1):114-123.
[10]田彦涛,孙中波,李宏扬,等.动态双足机器人的控制与优化研究进展[J].自动化学报,2016,42(8):1142-1157.TIAN Y T,SUN Z B,LI H Y,et al.A review of optimal and control strategies for dynamic walking bipedal robots[J].Acta Automatica Sinica,2016,42(8):1142-1157(in Chinese).
[11]王浩威.四足机器人跳跃步态参数分析及优化研究[D].哈尔滨:哈尔滨工业大学,2011.WANG H W.Parameters analysis and optimization of quadruped robot with bounding gait[D].Harbin:Harbin Institute of Technology,2011(in Chinese).
[12]MCGHEE R B,FRANK A A.On stability properties of quadruped creeping gaits[J].Mathematical Biosciences,1968,3(1):331-351.
[13]KALAKRISHNAN M,BUCHLI J,PASTOR P,et al.Learning,planning,and control for quadruped locomotion over challenging terrain[J].International Journal of Robotics Research,2011,30(2):236-258.
[14]BYL K,SHKOLNIK A,PRENTICE S,et al.Reliable dynamic motions for a stiff quadruped[C].Experimental Robotics,The Eleventh International Symposium,Athens,Greece,July 13-16,2009:319-328.
[15]刘颖.关于二次规划算法的研究[D].哈尔滨:哈尔滨师范大学,2012.LIU Y.Research on the quadratic programming algorithm[D].Harbin:Harbin Normal University,2012(in Chinese).
[16]徐拴锋,杨保华,张笃周,等.面向非合作目标抓捕的机械臂轨迹规划方法[J].中国空间科学技术,2014,34(4):8-15.XU S F,YANG B H,ZHANG D Z,et al.Trajectory planning algorithm for manipulators capturing noncooperative objects[J].Chinese Space Science and Technology,2014,34(4):8-15(in Chinese).
[17]古青波,李昂,赵会光.空间双柔性机械臂刚-柔耦合建模及定标误差分析[J].中国空间科学技术,2017,37(1):33-40.GU Q B,LI A,ZHAO H G.Rigid-flexible coupling modeling and calibration error analysis of the space doubleflexible manipulators[J].Chinese Space Science and Technology,2017,37(1):33-40(in Chinese).
[18]郑燕红,邓湘金,彭兢,等.基于人工势场法的月球表层采样装置避障规划[J].中国空间科学技术,2015,35(6):66-74.ZHENG Y H,DENG X J,PENG J,et al.Lunar surface sampling device collision avoidance planning based on artificial potential field method[J].Chinese Space Science and Technology,2015,35(6):66-74(in Chinese).
[19]WESTERVELT E R,GRIZZLE J W,KODITSCHEK D E.Hybrid zero dynamics of planar biped walkers[J].IEEE Transactions on Automatic Control,2003,48(1):42-56.
[20]钱慧敏.非单调信赖域算法的研究[D].西安:西安电子科技大学,2013.QIAN H M.Research of nonmontone trust-region method[D].Xi′an:Xidian University,2013(in Chinese).
[21]王立鹏,王军政,汪首坤,等.基于足端轨迹规划算法的液压四足机器人步态控制策略[J].机械工程学报,2013,49(1):39-44.WANG L P,WANG Z J,WANG S K,et al.Strategy of foot trajectory generation for hudraulic quadruped robots gait planning[J].Journal of Mechanical Engineering,2013,49(1):39-44(in Chinese).
[2]杨亮,傅瑜,付根平,等.基于能效优化的仿人机器人跑步步态优化与控制[J].计算机科学,2016,43(6):270-275.YANG L,FU Y,FU G P,et al.Running gait planning and control for humanoid robot based on energy efficiency optimization[J].Computer Science,2016,43(6):270-275(in Chinese).
[3]VUKOBRATOVIC M,BOROVAC B.Zero-moment point—thirty five years of its life[J].International Journal of Humanoid Robotics,2004(1):157-73.
[4]CARON S,PHAM Q C,NAKAMURA Y.ZMP support areas for multi-contact mobility under frictional constraints[J].IEEE Transactions on Robotics,2015,99:1-14.
[5]ASCANI S,LIBERATI F,FARABI R,et al.Horse-like walking,trotting,and galloping derived from kinematic motion primitives(kMPs)and their application to walk/trot transitions in a compliant quadruped robot[J].Biological Cybernetics,2013,107(3):309-320.
[6]雷静桃,王峰,俞煌颖.四足机器人轨迹规划及移动能耗分析[J].机械设计与研究,2014,30(1):29-34.LEI J T,WANG F,YU H Y.Analysis on trajectory planning and energy consumption of quadruped robot[J].Machine Design and Research,2014,30(1):29-34(in Chinese).
[7]刘飞,陈小平.使用零力矩点轨迹规划的四足机器人步态进化方法[J].机器人,2010,32(3):398-404.LIU F,CHEN X P.Gait evolving method of quadruped robot using zero-moment point trajectory planning[J].Robot,2010,32(3):398-404(in Chinese).
[8]潘少鹏,施家栋,王建中,等.基于重心侧向摆动的四足机器人爬行步态优化[J].机械科学与技术,2015,34(6):821-826.PAN S P,SHI J D,WANG J Z,et al.Crawl gait optimization for quadruped robot based on gravity center lateral movement[J].Mechanical Science and Technology for Aerospace Engineering,2015,34(6):821-826(in Chinese).
[9]CHAE K G,PARK J H.Trajectory optimization with GA and control for quadruped robots[J].Journal of Mechanical Science&Technology,2009,23(1):114-123.
[10]田彦涛,孙中波,李宏扬,等.动态双足机器人的控制与优化研究进展[J].自动化学报,2016,42(8):1142-1157.TIAN Y T,SUN Z B,LI H Y,et al.A review of optimal and control strategies for dynamic walking bipedal robots[J].Acta Automatica Sinica,2016,42(8):1142-1157(in Chinese).
[11]王浩威.四足机器人跳跃步态参数分析及优化研究[D].哈尔滨:哈尔滨工业大学,2011.WANG H W.Parameters analysis and optimization of quadruped robot with bounding gait[D].Harbin:Harbin Institute of Technology,2011(in Chinese).
[12]MCGHEE R B,FRANK A A.On stability properties of quadruped creeping gaits[J].Mathematical Biosciences,1968,3(1):331-351.
[13]KALAKRISHNAN M,BUCHLI J,PASTOR P,et al.Learning,planning,and control for quadruped locomotion over challenging terrain[J].International Journal of Robotics Research,2011,30(2):236-258.
[14]BYL K,SHKOLNIK A,PRENTICE S,et al.Reliable dynamic motions for a stiff quadruped[C].Experimental Robotics,The Eleventh International Symposium,Athens,Greece,July 13-16,2009:319-328.
[15]刘颖.关于二次规划算法的研究[D].哈尔滨:哈尔滨师范大学,2012.LIU Y.Research on the quadratic programming algorithm[D].Harbin:Harbin Normal University,2012(in Chinese).
[16]徐拴锋,杨保华,张笃周,等.面向非合作目标抓捕的机械臂轨迹规划方法[J].中国空间科学技术,2014,34(4):8-15.XU S F,YANG B H,ZHANG D Z,et al.Trajectory planning algorithm for manipulators capturing noncooperative objects[J].Chinese Space Science and Technology,2014,34(4):8-15(in Chinese).
[17]古青波,李昂,赵会光.空间双柔性机械臂刚-柔耦合建模及定标误差分析[J].中国空间科学技术,2017,37(1):33-40.GU Q B,LI A,ZHAO H G.Rigid-flexible coupling modeling and calibration error analysis of the space doubleflexible manipulators[J].Chinese Space Science and Technology,2017,37(1):33-40(in Chinese).
[18]郑燕红,邓湘金,彭兢,等.基于人工势场法的月球表层采样装置避障规划[J].中国空间科学技术,2015,35(6):66-74.ZHENG Y H,DENG X J,PENG J,et al.Lunar surface sampling device collision avoidance planning based on artificial potential field method[J].Chinese Space Science and Technology,2015,35(6):66-74(in Chinese).
[19]WESTERVELT E R,GRIZZLE J W,KODITSCHEK D E.Hybrid zero dynamics of planar biped walkers[J].IEEE Transactions on Automatic Control,2003,48(1):42-56.
[20]钱慧敏.非单调信赖域算法的研究[D].西安:西安电子科技大学,2013.QIAN H M.Research of nonmontone trust-region method[D].Xi′an:Xidian University,2013(in Chinese).
[21]王立鹏,王军政,汪首坤,等.基于足端轨迹规划算法的液压四足机器人步态控制策略[J].机械工程学报,2013,49(1):39-44.WANG L P,WANG Z J,WANG S K,et al.Strategy of foot trajectory generation for hudraulic quadruped robots gait planning[J].Journal of Mechanical Engineering,2013,49(1):39-44(in Chinese).