液压四足机器人机身扰动抑制及实验研究
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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.
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.
引文
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[17]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 J ZH,WANG SH K,et al. Strategy of foot trajectory generation for hydraulic quadruped robots gait planning[J]. Journal of Mechanical Engineering,2013,49(1):39-44.
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[2]孟健,刘进长,荣学文,等.四足机器人发展现状与展望[J].科技导报,2015,33(21):59-63.MENG J,LIU J CH,RONG X W,et al. Development status and prospect of quadruped robots[J]. Science&Technology Review,2015,33(21):59-63.
[3]张帅帅,荣学文,李贻斌,等.崎岖地形环境下四足机器人的静步态规划方法[J].吉林大学学报(工学版),2016,46(4):1287-1296.ZHANG SH SH,RONG X W,LI Y B,et al. Static gait planning method for quadruped robots on rough terrains[J]. Journal of Jilin University(Engineering and Technology Edition),2016,46(4):1287-1296.
[4]余伶俐,龙子威,周开军.基于贝塞尔曲线的机器人非时间轨迹跟踪方法[J].仪器仪表学报,2016,37(7):1564-1572.YU L L,LONG Z W,ZHOU K J. Non-time trajectory tracking method based on Bezier curve for robot[J].Chinese Journal of Scientific Instrument,2016,37(7):1564-1572.
[5]李峰,吴智政,钱晋武.下肢康复机器人步态轨迹自适应控制[J].仪器仪表学报,2014,35(9):2027-2036.LI F,WU ZH ZH,QIAN J W. Trajectory adaptation control for lower extremity rehabilitation robot[J].Chinese Journal of Scientific Instrument,2014,35(9):2027-2036.
[6] BOUSSEMA C,POWELL MJ,BLEDT G,et al. Online gait transitions and disturbance recovery for legged robots via the feasible impulse set[J]. IEEE Robotics and Automation Letters,2019,4(2):1611-1618.
[7] RAMDYA P,THANDIACKAL R,CHERNEY R,et al.Climbing favours the tripod gait over alternative faster insect gaits[J]. Nature Communications, 2017(8):14494.
[8] LI CH,XIONGR,ZHU Q G,et al. Push recovery for the standing under-actuated bipedal robot using the hip strategy[J]. Frontiers of Information Technology&Electronic Engineering,2015,16(7):579-593.
[9] MORO FL,SPROWITZ A,TULEU A,et al. Horse-like walking,trotting,and galloping derived from kinematic Motion Primitives(k MPs)and their application to walk/trot transitions in a compliant quadruped robot[J].Biological Cybernetics,2013,107(3):309-320.
[10] KIM T,PARK S,YI B J. A Composite algorithm for flow rate reduction and stable body trajectory generation in a hydraulic actuated quadruped robot with kinematic redundancy[C]. Proceedings of the 2011 IEEE International Conference on Mechatronics and Automation,2011:243-248.
[11]雷静桃,贾光辉.四足机器人对角小跑步态控制策略分析[J].上海大学学报(自然科学版),2017,23(6):882-892.LEI J T,JIA G H. Control of quadruped robot with trot gait[J]. Journal of Shanghai University(Natural Science),2017,23(6):882-892.
[12]常青,韩宝玲,罗庆生.四足机器人改进型对角小跑步态研究[J].中国机械工程,2015,26(18):2426-2431.CHANG Q, HAN B L, LUO Q SH. Study on an improved trot gait for quadruped robot[J]. China mechanical engineering,2015,26(18):2426-2431.
[13]孟健,李贻斌,李彬.四足机器人对角小跑步态全方位移动控制方法及其实现[J].机器人,2015,37(1):74-84.MENG J,LI Y B,LI B. Control method and its implementation of quadruped robot in omni-directional trotting gait[J]. Robot,2015,37(1):74-84.
[14]鄂明成,刘虎,张秀丽,等.一种粗糙地形下四足仿生机器人的柔顺步态生成方法[J].机器人,2014,36(5):584-591.E M CH,LIU H,ZHANG X L,et al. Compliant gait generation for a quadruped bionic robot walking on rough terrains[J].Robot,2014,36(5):584-591.
[15]王永智,胡庆雷,石忠.自由漂浮空间机器人载体姿态扰动最优轨迹规划[J].系统工程与电子技术,2011,33(10):2277-2281.WANG Y ZH,HU Q L,SHI ZH. Trajectory planning of free floating space robot for minimizing spacecraft attitude disturbance[J]. Systems engineering and electronics,2011,33(10):2277-2281.
[16]丁良宏. Big Dog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 big dog quadruped robot[J]. Journal of Mechanical Engineering, 2015,51(7):1-23.
[17]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 J ZH,WANG SH K,et al. Strategy of foot trajectory generation for hydraulic quadruped robots gait planning[J]. Journal of Mechanical Engineering,2013,49(1):39-44.
[18]杨超峰.液压四足机器人的步态规划研究[D].北京:北京理工大学,2015.YANG CH F. Research on gait planning for a hydraulic quadruped robot[D]. Beijing:Beijing Institute of Technology,2015.