沟壑类非连续地形下的四足机器人运动控制

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曾翔宇, 鄂明成, 李冬冬, 张秀丽. 沟壑类非连续地形下的四足机器人运动控制[J]. 机器人, 2011, 33(6): 700-705.. ZENG Xiangyu, E Mingcheng, LI Dongdong, ZHANG Xiuli. Quadruped Robot Walking Control on Trench-like Noncontinuous Terrain. ROBOT, 2011, 33(6): 700-705..

摘要

针对四足机器人踏入野外沟壑或踏上非结构化下行台阶时出现的姿态失稳问题，提出模仿生物神经反射机理的抗垂直惯性力平衡控制方法，即通过检测躯干的俯仰角突变信息，触发姿态反射，通过四条腿协调运动快速调整机器人姿态，抵抗惯性力造成的瞬时失稳．本文利用一个8自由度的四足仿生机器人设计了对比实验：机器人可成功跨越1.2倍跨距的沟壑并走下0.4倍腿长高度的台阶．

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关键词 ：四足机器人, 中枢模式发生器, 复杂地形, 踏空反射, 抗惯性力

Abstract：

For the problem that a quadruped robot loses its balance when walking into a trench in the fields or on a downward non-structured step,a balance control solution,aiming at counteracting the vertical inertial force is proposed,based on the biological neural reflex mechanism.The detected abrupt change of the body pitch angle will trigger the postural reflex, which will produce coordinated movements of the four legs to adjust the robot's attitude rapidly to counteract instantaneous imbalance caused by inertia.Physical experiments are designed comparatively using a 8-DOF quadruped robot.The robot successfully crosses over a 1.2-leg-stride wide trench and walks down a 0.4-leg-length high step.

Key words： quadruped robot central pattern generator rough terrain loss-foothold reflex anti-inertia

收稿日期: 2011-03-14 录用日期: 2011-10-17

ZTFLH:

TP24

基金资助:

国家自然科学基金资助项目（50905012）；中央高校基本科研业务费专项资助项目（2009JBM089）

通讯作者: 张秀丽 E-mail: zhangxl@bjtu.edu.cn

作者简介: 曾翔宇（1987- ），男，硕士生．研究领域：生物与仿生机器人．
鄂明成（1968- ），男，博士，副教授．研究领域：机器人技术，CIMS．
李冬冬（1988- ），男，硕士生．研究领域：生物仿生机器人．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I6/700

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