气动肌肉四足机器人建模与滑模控制

doi:10.13973/j.cnki.robot.2017.0620

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王斌锐, 王涛, 郭振武, 干苏, 金英连. 气动肌肉四足机器人建模与滑模控制[J]. 机器人, 2017, 39(5): 620-626.DOI: 10.13973/j.cnki.robot.2017.0620. WANG Binrui, WANG Tao, GUO Zhenwu, GAN Su, JIN Yinlian. Modeling and Sliding Mode Control of Quadruped Robot Driven by Pneumatic Muscles. ROBOT, 2017, 39(5): 620-626. DOI: 10.13973/j.cnki.robot.2017.0620.

摘要设计了2个拮抗式气动肌肉关节串联的2自由度腿部机构，基于三元素气动肌肉模型，建立单腿拉格朗日动力学模型．构建了系统状态空间，设计了基于干扰上界的滑模控制（SMC）律．搭建了仿真和实验测试平台．分别采用比例-积分-微分（PID）控制、滑模控制对髋关节和膝关节位置跟踪进行仿真和实验．实验结果表明，与PID控制相比，在SMC控制下髋关节误差降低26.2%，膝关节误差降低25.1%，SMC控制的位置跟踪精度要优于PID控制．在自主研发的四足机器人样机平台上进行测试，在SMC控制下可实现四足机器人的小跑步态．

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关键词 ：气动肌肉, 四足机器人, 滑模控制, 动力学, 小跑步态

Abstract：With two antagonistic pneumatic muscle joints in series, a 2-DOF (degree of freedom) leg mechanism is designed, and the Lagrange dynamics model of the single leg is developed based on the pneumatic muscle model with three factors. The system state space is established, and the sliding mode control (SMC) law based on the upper bound of the interference is designed. The simulation and experimental platforms are built. Simulations and experiments of position tracking for hip and knee joints are completed with PID (proportional-integral-differential) control and SMC. The experimental results show that compared with PID control, the position errors of hip and knee joints are reduced by 26.2% and 25.1% respectively under SMC. So, the position tracking accuracy of SMC is better than PID control. The experiment is carried out on the self-developed platform of quadruped robot, which can realize the trot gait under SMC control.

Key words： pneumatic muscle quadruped robot sliding mode control dynamics trot gait

收稿日期: 2017-03-09 录用日期: 2017-06-14

TP242

基金资助:国家自然科学基金（51575503）；浙江省自然科学基金（LY14E05002）

通讯作者: 王斌锐,wangbinrui@163.com E-mail: wangbinrui@163.com

作者简介: 王斌锐(1978-),男,博士,教授.研究领域:仿生机器人与智能控制,检测技术与工业机器人应用.
王涛(1991-),男,硕士生.研究领域:仿生机器人.
郭振武(1976-),男,硕士,讲师.研究领域:仿生机器人.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0620 或 https://robot.sia.cn/CN/Y2017/V39/I5/620

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