基于CPG的沙漠蜘蛛机器人多模式运动控制方法

doi:10.13973/j.cnki.robot.170294

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史瑞东, 张秀丽, 姚燕安. 基于CPG的沙漠蜘蛛机器人多模式运动控制方法[J]. 机器人, 2018, 40(2): 146-157.DOI: 10.13973/j.cnki.robot.170294. SHI Ruidong, ZHANG Xiuli, YAO Yan'an. A CPG-Based Control Method for the Multi-Mode Locomotion of a Desert Spider Robot. ROBOT, 2018, 40(2): 146-157. DOI: 10.13973/j.cnki.robot.170294.

摘要模仿具有多种运动模式的沙漠蜘蛛，设计了本体为双层六杆5R闭链机构的仿蜘蛛机器人，其中16个主动关节由直流伺服电机控制．提出了基于Hopf振荡器的中枢模式发生器（CPG）运动控制模型，用于实现仿蜘蛛机器人的翻滚、爬行、侧滚等多种运动模式以及步态切换．利用Matlab和ADAMS对仿蜘蛛机器人的多模式运动进行动力学仿真，结果表明机器人可实现连续平稳的翻滚、爬行、侧滚运动，验证了CPG仿生控制方法应用于闭链机器人多模式运动的可行性．

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	史瑞东张秀丽姚燕安
	史瑞东
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	姚燕安

关键词 ：仿蜘蛛机器人, 多模式运动, 中枢模式发生器, Hopf振荡器, 闭链机器人

Abstract：Inspired by the desert spider which can perform various movements, a spider robot with double-six-bar-closed-chain 5R mechanism is designed, in which 16 active joints are controlled by DC (direct current) servo motors. A CPG (central pattern generator) motion control model based on Hopf oscillator is proposed to realize handspring, crawl, cartwheel gaits and gait switching of the spider robot. Matlab and ADAMS are used to perform dynamics simulation on multi-mode locomotion of the spider robot. The results show that the robot can execute handspring, crawl and cartwheel motion continuously and smoothly, and the bionic CPG control method applied to multi-mode locomotion of the closed-chain robot is feasible.

Key words： spider robot multi-mode locomotion central pattern generator Hopf oscillator closed-chain robot

收稿日期: 2017-05-05 录用日期: 2017-08-02

TP242.6

基金资助:中央高校基本科研业务费专项（M15JB00250）

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

作者简介: 史瑞东(1991-),男,硕士生.研究领域:机器人仿生控制;
张秀丽(1975-),女,博士,副教授.研究领域:生物与仿生机器人;
姚燕安(1972-),男,博士,教授.研究领域:机构与机器人学.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.170294 或 https://robot.sia.cn/CN/Y2018/V40/I2/146

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