四足机器人对角小跑步态全方位移动控制方法及其实现

doi:10.13973/j.cnki.robot.2015.074

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (1130 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
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. ROBOT, 2015, 37(1): 74-84. DOI: 10.13973/j.cnki.robot.2015.074.

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．

	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
	孟健
	李贻斌
	李彬

关键词 ：四足机器人, 对角小跑步态, 全方位移动, 斜坡, 步程计

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.

Key words： quadruped robot trotting gait omni-directional movement slope pedometer

收稿日期: 2014-04-25 录用日期: 2014-11-09

TP242.6

基金资助:

国家自然科学基金资助项目（61233014，61305130）；中国博士后科学基金项目（2013M541912）

通讯作者: 李贻斌，liyb@sdu.edu.cn E-mail: liyb@sdu.edu.cn

作者简介: 孟健（1986-），男，博士生.研究领域：四足机器人运动控制
李贻斌（1960-），男，博士，教授.研究领域：智能机器人，特种机器人，智能车辆，智能控制和机电一体化
李彬（1979-），男，博士，副教授.研究领域：机器人学，神经网络

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2015.074 或 https://robot.sia.cn/CN/Y2015/V37/I1/74

[1] 汪劲松,易昕,张伯鹏.QW-I型全方位四足步行机器人[J].机械工程学报,1991,27(5):69-74.Wang J S, Yi X, Zhang B P. Design and experimental study on omnidirectional quadruped legged robot QW-I[J]. Journal of Mechanical Engineering, 1991, 27(5): 69-74.

[2] 张兆君,孙杏初.四足步行机的一种新全方位步态[J].北京航空航天大学学报,1993,2(2):101-107.Zhang Z J, Sun X C. A new all-direction gait of four-legged walking machine[J]. Journal of Beijing University of Aeronautics and Astronautics, 1993, 2(2): 101-107.

[3] Zhang L, Ma S G, Inoue K, et al. Omni-directional walking of a quadruped robot with optimal body postures on a slope[C]// IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 2005: 2976-2981.

[4] Zhang W Y, Zhang L. Quadruped robot omni-directional walking on a slope based on static balance[C]//International Conference on Manufacturing Engineering and Automation. Piscataway, USA: IEEE, 2012: 1436-1440.

[5] 张文宇.四足机器人斜面全方位静态步行及稳定性分析[D].青岛:中国海洋大学,2009.Zhang W Y. The study of omni-directional static walking and stability analysis of a quadruped robot on a slope[D]. Qingdao: Ocean University of China, 2009.

[6] Zhang L, Gao S. Normalized energy stability margin based analysis of omni-directional static walking of a quadruped robot on rough terrain[C]//International Conference on Manufacturing Science and Technology. Piscataway, USA: IEEE, 2012: 7401-7405.

[7] 高杉.四足机器人静态全方位步行的稳定性研究及实验仿真[D].青岛:中国海洋大学,2008.Gao S. The study of stability in omni-directional static walking of a quadruped robot and the simulation[D]. Qingdao: Ocean University of China, 2008.

[8] 高杉,张磊.四足机器人静态全方位步行稳定性研究[J].微计算机信息,2008,24(2):209-211.Gao S, Zhang L. The study of stability in omni-directional static walking of the quadruped robot[J]. Microcomputer Information, 2008, 24(2): 209-211.

[9] Matos V, Santos C P. Omnidirectional locomotion in a quadruped robot: A CPG-based approach[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA: IEEE, 2010: 3392-3397.

[10] 王国富,高峰,罗杨宇,等.转向盘式六足机器人设计及全方位运动控制[J].哈尔滨工业大学学报,2012,44(2):129-134.Wang G F, Gao F, Luo Y Y, et al. Design and omnidirectional motion control of hexapod robot with a steering-wheel[J]. Journal of Harbin Institute of technology, 2012, 44(2): 129-134.

[11] 王国富,高峰,徐国艳.转向盘式全方位六足机器人运动分析及控制[J].吉林大学学报:工学版,2012,42(4):1008-1014.Wang G F, Gao F, Xu G Y. Kinematic analysis and control of omnidirectional hexapod robot with a steering-wheel[J]. Journal of Jilin University: Engineering and Technology Edition, 2012, 42(4): 1008-1014.

[12] Li B, Li Y, Rong X, et al. Trotting gait planning and implementation for a little quadruped robot[M]//Lecture Notes in Electrical Engineering,Vol.97. Berlin, Germany: Springer-Verlag, 2011: 195-202.

[13] Moro F L, Sprowitz A, Tuleu A, et al. Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot[J]. Biological Cybernetics, 2013, 107(3): 309-320.

[14] Zhang S, Gao J, Duan X, et al. Trot pattern generation for quadruped robot based on the ZMP stability margin[C]//International Conference on Complex Medical Engineering. Piscataway, USA: IEEE, 2013: 608-613.

[15] Barasuol V, Buchli J, Semini C, et al. A reactive controller framework for quadrupedal locomotion on challenging terrain[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 2013: 2539-2547.

[16] Chung J W, Lee I H, Cho B K, et al. Posture stabilizationstrategy for a trotting point-foot quadruped robot[J]. Journal of Intelligent & Robotic Systems, 2013, 72(3/4): 325-341.

[17] 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.

[18] Kotaka K, Ugurlu B, Kawanishi M, et al. Prototype development and real-time trot-running implementation of a quadruped robot: RoboCat-1[C]//IEEE International Conference on Mechatronics. Piscataway, USA: IEEE, 2013: 604-609.

[19] Jiang Z, Li M, Guo W. Running control of a quadruped robot in trotting gait[C]//IEEE Conference on Robotics, Automation and Mechatronics. Piscataway, USA: IEEE, 2011: 172-177.

[20] Cai R B, Chen Y Z, Hou W Q, et al. Trotting gait of a quadruped robot based on the time-pose control method[J]. International Journal of Advanced Robotic Systems, 2013, 10: 148.

[21] Khalil W, Kleinfinger J. A new geometric notation for open and closed-loop robots[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA: IEEE, 1986: 1174-1179.

[22] 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.

[23] 李彬,李贻斌,荣学文.基于ADAMS和MATLAB联合仿真的四足机器人运动规划与性能分析[C]//第三十二届中国控制会议论文集:D卷.2013:5914-5919.Li B, Li Y B, Rong X W. Locomotion planning and performance analysis of quadruped robot based on ADAMS and MATLAB co-simulation[C]//Proceedings of the 32nd Chinese Control Conference, vol.D. 2013: 5914-5919.

[24] 郑浩峻,张秀丽.足式机器人生物控制方法与应用[M].北京:清华大学出版社,2011.Zheng H J, Zhang X L. Biologically inspired motion control theory and its application for a legged robot[M]. Beijing: Tsinghua University Press, 2011.

[25] Rodenbaugh S J. RobotBuilder: A graphical software tool for the rapid development of robotic dynamic simulations[D]. Columbus, USA: Ohio State University, 2003.