谢惠祥, 尚建忠, 罗自荣, 薛勇. 四足机器人对角小跑中机体翻转分析与姿态控制[J]. 机器人, 2014, 36(6): 676-682. DOI: 10.13973/j.cnki.robot.2014.0676
引用本文: 谢惠祥, 尚建忠, 罗自荣, 薛勇. 四足机器人对角小跑中机体翻转分析与姿态控制[J]. 机器人, 2014, 36(6): 676-682. DOI: 10.13973/j.cnki.robot.2014.0676
XIE Huixiang, SHANG Jianzhong, LUO Zirong, XUE Yong. Body Rolling Analysis and Attitude Control of a Quadruped Robot during Trotting[J]. ROBOT, 2014, 36(6): 676-682. DOI: 10.13973/j.cnki.robot.2014.0676
Citation: XIE Huixiang, SHANG Jianzhong, LUO Zirong, XUE Yong. Body Rolling Analysis and Attitude Control of a Quadruped Robot during Trotting[J]. ROBOT, 2014, 36(6): 676-682. DOI: 10.13973/j.cnki.robot.2014.0676

四足机器人对角小跑中机体翻转分析与姿态控制

Body Rolling Analysis and Attitude Control of a Quadruped Robot during Trotting

  • 摘要: 为了解决四足机器人对角小跑运动中机体绕对角线翻转的问题,在理论分析翻转原因的基础上提出一种简单有效的姿态控制方法.首先建立四足机器人腿结构的运动学模型,通过数值运算与分析,得到机体翻转的根本原因,即支撑腿髋部前摆关节的反作用力矩产生了绕机体对角线的翻转运动.在此基础上,提出利用支撑腿的髋部侧摆关节力矩来平衡机体翻转的姿态控制方法,并分析讨论了姿态控制可能引起的机体侧向运动现象.最后进行动力学仿真试验,发现机器人在不施加姿态控制的情况下很容易失去平衡而翻到;而在应用了提出的姿态控制方法后,机器人能够实现稳定的小跑运动并且保持机体翻转角度在一个较小的范围内稳定波动.仿真试验对比证明了该姿态控制方法能有效控制机体翻转运动并保持机器人动态平衡.

     

    Abstract: To solve the problem that the body of quadruped robot always rotates about the body diagonal line during trotting, a simple and effective attitude control method is proposed through theoretically analyzing the essential cause of the body rolling. Firstly, the kinematic model of the quadruped leg is established to run the numerical analysis, hence the underlying reason for body rolling is obtained. That is, the reaction torques of the forward joints at the hips of standing legs cause the rolling motion about the body diagonal line. Based on the analysis, an attitude control method, which uses the torques of the sideward joints at the hips of the standing legs to resist the body rolling, is proposed, and then the potential lateral movement of the robot is discussed. At the end, dynamical simulations are conducted. The results show that the robot is easy to lose balance without attitude control. However, with the proposed attitude control method, it can achieve stable trotting and keep the roll angle changing within a small range. The dynamical simulations verify that the proposed approach can effectively control the body rolling motion and maintain dynamic balance of the robot.

     

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