An Energy Efficient Motion Controller Based on SLCP for the Electrically Actuated Quadruped Robot
An Energy Efficient Motion Controller Based on SLCP for the Electrically Actuated Quadruped Robot
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DOI：
10.1007/s42235-020-0023-6
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发表时间：
2020-03-01
影响因子：
4
通讯作者：
Yang, Kun
中科院分区：
文献类型：
--
作者：
Li, Tianfa;Zhou, Lelai;Yang, Kun
能源效率一直是四足机器人研究的焦点。减少直流电机的能量损失有助于提高电动四足机器人的行走效率。大部分的工作都集中在四足机构或驱动，如串联弹性驱动（SEA）。本文提出了一种更有效的控制器来实现四足机器人稳定的5 m中心点s（-1）运动。采用拉格朗日方程建立了电动腿的动力学模型。将电动四足机器人直流电机的能量效率问题转化为一个优化问题。提出了随机线性互补问题（SLCP）和正弦脉冲力来降低接触处的能量消耗。伯恩斯坦多项式用于规划准椭圆足部运动轨迹。计算机仿真和实际单腿机器人样机验证了所提出的控制器的稳定性和能量效率。与其他工作相比，所提出的控制器执行最优的运输成本（COT）。
Energy efficiency has been the focus of quadruped robot research. Decreasing the energy loss caused by the DC motor can contribute to the walking efficiency of electrically actuated quadruped robots. Most works have focused on the quadruped mechanisms or actuations such as the Series Elastic Actuation (SEA). This work proposes a better efficient controller to perform the stable 5 m center dot s(-1) movements of quadruped robots. The dynamic model of the electrically actuated leg is established by Lagrangian formulation. The energy efficiency of the DC motors in the electrically actuated quadruped robot is formulated as an optimization problem. The Stochastic Linear Complementarity Problem (SLCP) and sinusoidal pulse force are proposed to reduce the energy consumption at the contact. The Bernstein polynomials are used for planning a quasi-elliptic foot motion trajectory. The stability and energy efficiency of the proposed controller are verified with computer simulation and an actual single leg robot prototype. Compared with other works, the proposed controller performs the optimal Cost of Transport (COT).