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. DOI: 10.13973/j.cnki.robot.2015.074
引用本文: 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. DOI: 10.13973/j.cnki.robot.2015.074
MENG Jian, LI Yibin, LI Bin. Control Method and Its Implementation of Quadruped Robot in Omni-directional Trotting Gait[J]. ROBOT, 2015, 37(1): 74-84. DOI: 10.13973/j.cnki.robot.2015.074
Citation: MENG Jian, LI Yibin, LI Bin. Control Method and Its Implementation of Quadruped Robot in Omni-directional Trotting Gait[J]. ROBOT, 2015, 37(1): 74-84. DOI: 10.13973/j.cnki.robot.2015.074

四足机器人对角小跑步态全方位移动控制方法及其实现

Control Method and Its Implementation of Quadruped Robot in Omni-directional Trotting Gait

  • 摘要: 为实现四足机器人在平面和斜坡上的全方位移动,提出了基于对角小跑步态的运动控制方法.基于所推导的四足机器人运动学方程和仿生步态规划方法,将机器人在平面内的运动解耦为前向运动、侧向运动和自 转运动3 部分以降低运动控制的复杂度.首先利用各部分振荡幅度来实现机器人在3 个方向上的运动速度控制, 然后利用将各部分运动合成实现四足机器人在水平面内的全方位移动控制;基于平面的全方位移动控制方法,对足端位置进行映射,实现了机器人在斜坡上的对角小跑步态全方位运动控制.最后,分别在平面和斜坡上进行了仿真和实际物理样机实验.步程计数据、仿真数据与物理样机实验结果之间的差别在可接受范围之内,证实了该方法有效地实现了机器人的速度控制和运动解耦,验证了所提出方法的正确性和有效性.

     

    Abstract: For a quadruped robot to implement omni-directional moving on horizontal planes and slopes, a control method based on trotting gait is proposed. Based on the kinematic equation and bionic gait planning method derived, the motion in plane is decoupled into three parts to reduce the complexity of motion control: forward motion, lateral motion and rotary motion. Firstly, the motion speeds of the three directions are controlled by modifying the amplitude of the oscillation of these parts. Then the omni-directional moving control is implemented in horizontal plane by overlaying the three parts of motion. After that, the omni-directional control for the robot trotting on slopes is implemented by mapping the positions of the toes based on the planar omni-directional moving control method. Lastly, simulations and experiments on the physical prototype are implemented on horizontal planes and slopes. The difference among the pedometer data, the simulation data and the physical prototype experimental results is within an acceptable range, which proves that the speed control and the decoupling of the motion are realized effectively with the proposed method, and the correctness and validity of the method is verified.

     

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