Solving position-posture deviation problem of multi-legged walking robots with semi-round rigid feet by closed-loop control
Solving position-posture deviation problem of multi-legged walking robots with semi-round rigid feet by closed-loop control
复制标题
DOI：
10.1007/s11771-014-2408-3
复制
发表时间：
2014-11
影响因子：
4.4
通讯作者：
Gang Chen;Bo Jin;Ying Chen
中科院分区：
文献类型：
--
作者：
Gang Chen;Bo Jin;Ying Chen
半圆形刚性足在机器人行走过程中会产生滚动效应，难以获知实际的立足点位置，从而导致位姿偏差问题。位姿偏差问题会影响机器人的稳定性和协调性，甚至会导致机器人翻倒而无法向前行走。针对具有半圆形刚性足的多足步行机器人的位姿偏差问题，基于多足步行机器人的速度逆运动学，提出了一种新的位姿闭环控制方法来解决半圆形刚性足引起的位姿偏差问题。将位置-姿态闭环控制分为位置闭环控制和姿态闭环控制两部分。这样，机器人的位姿控制，这是一个紧耦合和非线性系统解耦。分别利用MATLAB和亚当斯对位置-姿态开环控制和位置-姿态闭环控制进行联合仿真。联合仿真结果验证了位置-姿态闭环控制在解决半圆刚性足引起的位置-姿态偏差问题方面的良好效果。
The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.