一种粗糙地形下四足仿生机器人的柔顺步态生成方法

doi:10.13973/j.cnki.robot.2014.0584

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (1474 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
鄂明成, 刘虎, 张秀丽, 付成龙, 马宏绪. 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.DOI: 10.13973/j.cnki.robot.2014.0584. E Mingcheng, LIU Hu, ZHANG Xiuli, FU Chenglong, MA Hongxu. Compliant Gait Generation for a Quadruped Bionic Robot Walking on Rough Terrains. ROBOT, 2014, 36(5): 584-591. DOI: 10.13973/j.cnki.robot.2014.0584.

摘要

传统以刚体动力学为基础的四足机器人运动控制方法对地形误差敏感，无法适应粗糙复杂地形，因此提出一种基于虚拟模型的运动控制方法用于实现四足机器人在粗糙地形下的行走．建立了以足底接触力为约束的高层步行任务和底层运动控制的映射关系．采用弹簧－阻尼－质量虚拟模型对四足机器人进行建模，将四足机器人的步行任务用一系列作用于机体质心的虚拟力去表征，基于各足等效力矩平衡的原则，将笛卡儿空间的虚拟力矢量分配到各支撑足，利用雅可比矩阵把足端力矢量转换为机器人关节空间的关节转矩．针对崎岖的空间3维粗糙地形，建立了机器人躯干姿态与地形的关联参数，通过调整躯干姿态有效扩大了机器人对粗糙地形的适应程度．运动仿真结果表明，机器人可以实现粗糙地形下稳定连续的行走，足底接触力平稳、无冲击，证明了该柔顺步态生成方法的合理性和有效性．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	鄂明成
	刘虎
	张秀丽
	付成龙
	马宏绪

关键词 ：四足机器人, 运动控制, 柔顺步态, 虚拟模型, 粗糙地形

Abstract：

The conventional dynamic-based motion control for quadruped robots is sensitive to terrain errors and has difficulty in adapting to rough terrains. For this problem, a virtual model based motion control method is proposed for a quadruped robot walking on rough terrains. The mapping relationship between the high level locomotion task and low level motion control is built to satisfy the constraints of feet contact forces. The quadruped robot is built as a spring-damper-mass model. The locomotion task of the quadruped robot is represented using virtual forces acting on the mass centre of the body. A principle that all feet of the quadruped robot have balanced equivalent torques is assumed, based on which the virtual force vectors solved in Cartesian space are distributed to all supporting feet. The Jacobian matrix for each single leg is employed to convert the feet forces in Cartesian space into joint torques in joint space. As for rough terrains with 3D slopes, the trunk posture of the quadruped robot is changed according to the current terrain parameter so as to improve the robot's ability to adapt to highly-rough terrains. Dynamic simulations results show that the quadruped robot traverses the rough terrains successfully with small trunk undulations and steady ground forces on the feet. Therefore, the effectiveness of the presented compliant gait generation approach is proved.

Key words： quadruped robot motion control complaint gait virtual model rough terrain

收稿日期: 2013-10-18 录用日期: 2014-06-16

TP242.6

基金资助:

国家863计划资助项目（2011AA040801）；国家自然科学基金资助项目（61375099）；中央高校基本科研业务费专项资金资助项目（2012JBM088）

通讯作者: 张秀丽，zhangxl@bjtu.edu.cn E-mail: zhangxl@bjtu.edu.cn

作者简介: 鄂明成（1968-），男，博士，副教授．研究领域：机器人技术，CIMS．
刘虎（1987-），男，硕士生．研究领域：四足机器人运动控制．
张秀丽（1975-），女，博士，副教授．研究领域：仿生机器人．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2014.0584 或 https://robot.sia.cn/CN/Y2014/V36/I5/584

[1] 谭民,王硕.机器人技术研究进展[J].自动化学报,2013,39(7):963-972.T an M, Wang S. Research progress on robotics[J]. Acta Automatica Sinica, 2013, 39(7): 963-972.

[2] Raibert M, Blankespoor K, Nelson G, et al. BigDog, the roughterrain quadruped robot[C]//Proceedings of the 17th International Federation of Automation Control. Amsterdam, Netherlands:E lsevier, 2008: 10822-10825.

[3] 丁良宏,王润孝,冯华山,等.浅析BigDog 四足机器人[J].中国机械工程,2012,23(5):505-514.D ing L H, Wang R X, Feng H S, et al. Brief analysis of a Big-Dog quadruped robot[J]. China Mechanical Engineering, 2012,23(5): 505-514.

[4] Semini C, Tsagarakis N G, Guglielmino E, et al. Design of HyQ–A hydraulically and electrically actuated quadruped robot[J].Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2011, 225(6):831-849.

[5] Boaventura T, Semini C, Buchli J, et al. Dynamic torque control of a hydraulic quadruped robot[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE,2012: 1889-1894.

[6] Kim H K, Kwon O,Won D H, et al. Foot trajectory generation of hydraulic quadruped robots on uneven terrain[C]//Proceedings of the 17th IFACWorld Congress. Amsterdam, Netherlands: Elsevier,2008: 3021-3026.

[7] 曾翔宇,鄂明成,李冬冬,等.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 X Y, E M C, Li D D, et al. Quadruped robot walking control on trench-like noncontinuous terrain[J]. Robot, 2011, 33(6):700-705.

[8] 李贻斌,李彬,荣学文,等.液压驱动四足仿生机器人的结构设计和步态规划[J].山东大学学报:工学版,2011,41(5):32-36,45.L i Y B, Li B, Rong X W, et al. Mechanical design and gait planning of a hydraulically actuated quadruped bionic robot[J].Journal of Shandong University: Engineering Science, 2011,41(5): 32-36,45.

[9] Cai R B, Chen Y Z, HouWQ, et al. Trotting gait of a quadruped robot based on the time-pose control method[J]. International Journal of Advanced Robotic Systems, 2013, 10: No.148.

[10] Jiang Z Y, LiMT, GuoW. Running control of a quadruped robot in trotting gait[C]//IEEE International Conference on Robotics,Automation and Mechatronics. Piscataway, USA: IEEE, 2011:172-177.

[11] 田兴华,高峰,陈先宝,等.四足仿生机器人混联腿构型设计及比较[J].机械工程学报,2013,49(6):81-88.T ian X H, Gao F, Chen X B, et al. Mechanism design and comparison for quadruped robot with parallel-serial leg[J]. Journal of Mechanical Engineering, 2013, 49(6): 81-88.

[12] Wang X, Li M T, Wang P F, et al. Running and turning control of a quadruped robot with compliant legs in bounding gait[C]//IEEE International Conference on Robotics and Automation.Piscataway, USA: IEEE, 2011: 511-518.

[13] Cai R B, Chen Y Z, Lang L, et al. Inverse kinematics of a new quadruped robot control method[J]. International Journal of Advanced Robotic Systems, 2013, 10: No.46.

[14] Rong X W, Li Y B, Ruan J H, et al. Design and simulation for a hydraulic actuated quadruped robot[J]. Journal of Mechanical Science and Technology, 2012, 26(4): 1171-1177.

[15] Masuda T, Kimura H, Takase K. Emergence of a quadrupedal bound gait as interaction among the brain, body and environment[C]//Proceedings of SICE Annual Conference 2008–International Conference on Instrumentation, Control and Information Technology. Tokyo, Japan: Society of Instrument and Control Engineers, 2008: 2501-2506.

[16] 李满天,于海涛,郭伟,等.基于摄动理论的SLIP 模型解析化研究及其运动控制[J].机器人,2012,34(6):689-696.L i M T, Yu H T, Guo W, et al. Research on the analyticity of SLIP model based on perturbation theory and locomotion control[J]. Robot, 2012, 34(6): 689-696.

[17] Raibert M. Legged robots that balance[M]. Cambridge, USA:M IT Press, 1997: 58-80.

[18] Pratt J, Chew C M, Torres A, et al. Virtual model control: An intuitive approach for bipedal locomotion[J]. International Journal of Robotics Research, 2001, 20(2): 129-143.

[19] 陈佳品,程君实,席裕庚.基于虚拟模型的四足机器人直觉控制[J].上海交通大学学报,2002,36(8):1150-1154.Chen J P, Cheng J S, Xi Y G. Intuitive control of a quadruped walking robot based on virtual model[J]. Journal of Shanghai Jiaotong University, 2002, 36(8):1150-1154.

[20] Buchli J, Stulp F, Theodorou E, et al. Learning variable impedance control[J]. International Journal of Robotics Research,2011, 30(7): 820-833.

[21] Park J, Park J H. Impedance control of quadruped robot and its impedance characteristic modulation for trotting on irregular terrain[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA: IEEE, 2012: 175-180.

[22] Tran D T, Koo I M, Moon H, et al. Motion control of aquadruped robot in unknown rough terrains using 3D spring damper leg model[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 2012:4931-4936.

[23] Havoutis I, Semini C, Buchli J, et al. Quadrupedal trotting with active compliance[C]//IEEE International Conference on Mechatronics. Piscataway, USA: IEEE, 2013: 610-616.

[24] IHMC. SimulationConstructionSet[EB/OL]. [2013-09-04].http://www.ihmc.us/groups/scs/.