谭永营, 晁智强, 韩寿松, 宁初明. 基于重心动力学及虚拟模型的负载型四足步行平台对角步态控制方法[J]. 机器人, 2020, 42(4): 448-459. DOI: 10.13973/j.cnki.robot.190529
引用本文: 谭永营, 晁智强, 韩寿松, 宁初明. 基于重心动力学及虚拟模型的负载型四足步行平台对角步态控制方法[J]. 机器人, 2020, 42(4): 448-459. DOI: 10.13973/j.cnki.robot.190529
TAN Yongying, CHAO Zhiqiang, HAN Shousong, NING Chuming. Control Method of a Load-Carrying Quadruped Walking Vehicle with Trotting GaitBased on the Centroidal Dynamics and the Virtual Model[J]. ROBOT, 2020, 42(4): 448-459. DOI: 10.13973/j.cnki.robot.190529
Citation: TAN Yongying, CHAO Zhiqiang, HAN Shousong, NING Chuming. Control Method of a Load-Carrying Quadruped Walking Vehicle with Trotting GaitBased on the Centroidal Dynamics and the Virtual Model[J]. ROBOT, 2020, 42(4): 448-459. DOI: 10.13973/j.cnki.robot.190529

基于重心动力学及虚拟模型的负载型四足步行平台对角步态控制方法

Control Method of a Load-Carrying Quadruped Walking Vehicle with Trotting GaitBased on the Centroidal Dynamics and the Virtual Model

  • 摘要: 为提高负载型四足步行平台对角步态行走的稳定性,减小较大的腿部质量及偏心质量对稳定行走的影响,提出融合重心动力学及虚拟模型的控制方法.应用虚拟模型控制方法对机身及摆动腿加速度进行求解.结合平台重心动力学模型得到其所受合外力,而后应用二次规划将平台合外力分配到支撑腿足端.接着运用逆向动力学和关节空间PD控制得到步行平台关节力矩.通过Adams和Simulink对负载型四足步行平台对角步态行走进行仿真,并将该方法与虚拟模型控制算法进行对比.结果表明重心动力学及虚拟模型控制方法能够使平台姿态角稳定在目标值附近,在平台受到侧向冲击情况下横滚角、俯仰角分别减小约42%、21.8%,在机身偏心全向行走过程中减小50%、89%.证明了所提控制方法能够有效应对较大的腿部质量及偏心质量的影响,提高负载型四足步行平台对角步态行走的稳定性和鲁棒性.

     

    Abstract: A control method combining the centroidal dynamics and the virtual model is proposed, in order to improve the walking stability of a load-carrying quadruped walking vehicle with trotting gait and to reduce the influence of large leg mass and eccentric mass on stable walking. The accelerations of the vehicle body and the swing-legs are solved by using the virtual model control method. Combined with the centroidal dynamics model, the external forces on the vehicle are obtained. Then, the quadratic programming is applied to distributing the resultant external forces to the supporting legs. The joint moments of the walking vehicle are obtained by using the inverse dynamics and the PD (proportional-differential) control in the joint space. Adams and Simulink are used to simulate the trotting gait of the load-carrying quadruped walking vehicle, and comparisons are made between the proposed algorithm and the virtual model control algorithm. Results show that the centroidal dynamics and virtual model control method can stabilize the attitudes of the vehicle around the target values. And the roll and pitch angles of the vehicle are reduced by 42% and 21.8% respectively under a lateral impact, and reduced by 50% and 89% respectively during omni-directional walking with a vehicle eccentric weight. Therefore, the proposed control method can effectively deal with the influence of large leg mass and eccentric mass, and improve the walking stability and robustness of the load-carrying quadruped walking vehicle with trotting gait.

     

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