具有主动腰关节的四足机器人在间歇性对角小跑步态下的姿态平衡控制

doi:10.13973/j.cnki.robot.2016.0670

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郑楚婷, 宋光明, 乔贵方, 宋爱国, 韦中. 具有主动腰关节的四足机器人在间歇性对角小跑步态下的姿态平衡控制[J]. 机器人, 2016, 38(6): 670-677.DOI: 10.13973/j.cnki.robot.2016.0670. ZHENG Chuting, SONG Guangming, QIAO Guifang, SONG Aiguo, WEI Zhong. Posture Balance Control of the Quadruped Robot with an Active Waist Joint during Intermittent Trot Locomotion. ROBOT, 2016, 38(6): 670-677. DOI: 10.13973/j.cnki.robot.2016.0670.

摘要提出一种由前轮腿模块、后轮腿模块和主动腰关节模块组成的轮腿式机器人．研究发现，拥有刚性腰关节模块的轮腿式机器人在以对角小跑步态行进的过程中处于振荡的非平衡态．为此，借鉴四足动物生物学研究成果以及基于ZMP（零力矩点）的实时性摆动补偿轨迹规划，本文利用主动腰关节模块来提高轮腿式机器人在间歇性小跑步态下的稳定性．对上述的轮腿式机器人进行运动学和动力学建模，通过仿真实验证实了添加偏航关节的规律性摆动可以大幅减少和改善机体的倾斜振荡，机体的倾斜幅度由原先的62．2 mm降至12．8 mm，明显提升了机器人在间歇性小跑步态下的运动稳定性．

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	郑楚婷
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关键词 ：轮腿式机器人, 间歇性小跑步态, 偏航关节, 零力矩点, 步态稳定性

Abstract：A wheel-legged robot is proposed, which is comprised of the front wheel-leg module, the rear wheel-leg module, and the active waist joint. The research indicates that the locomotion of the wheel-legged robot with the rigid waist joint in trot gait is unstable with violent vibration. According to the biological study in quadrupeds and ZMP (zero moment point) based real-time trajectory planning with sway compensation, a control method using the active waist joint is proposed to improve the locomotion stability in intermittent trot gait. Kinematic and dynamic models of the wheel-legged robot are developed. Experimental results show that the addition of the regular swinging function for the yaw joint can dramatically reduce the amplitude of the body vibration from 62.2 mm to 12.8 mm and remarkably improve the locomotion stability of the robot in intermittent trot gait.

Key words： wheel-legged robot intermittent trot gait yaw joint zero-moment point gait stability

收稿日期: 2016-06-08 录用日期: 2016-10-08

TP24

基金资助:国家自然科学基金（61375076）；江苏省“六大人才高峰”高层次人才选拔培养项目（WLW-010）

通讯作者: 宋光明，mikesong@seu.edu.cn E-mail: mikesong@seu.edu.cn

作者简介: 郑楚婷（1992-），女，硕士生．研究领域：仿生机器人运动控制．
宋光明（1974-），男，博士，教授．研究领域：分布式机器人，仿生机器人．

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.2016.0670 或 https://robot.sia.cn/CN/Y2016/V38/I6/670

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