Gait Planning and Stability Control of a Quadruped Robot.
Gait Planning and Stability Control of a Quadruped Robot.
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四足机器人的步态规划与稳定性控制
DOI：
10.1155/2016/9853070
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发表时间：
2016
影响因子：
--
通讯作者：
Tang H
中科院分区：
文献类型：
--
作者：
Li J;Wang J;Yang SX;Zhou K;Tang H
为了实现四足机器人的平滑步态规划和稳定性控制，提出了一种基于中心模式发生器-零力矩点（CPG-ZMP）的控制算法。为了产生平滑的步态，缩短模型振荡系统的调节时间，提出了一种基于Wilson-Cowan模型的CPG模型控制器及其步态切换策略。采用改进的多自由度降阶控制理论获得膝髋关节的控制信号。通过ZMP的实时运算，实现机器人的自适应速度调节和步态切换，实现机器人的稳定控制。实验结果表明，CPG控制算法能够有效地生成四足机器人的步态，并且步态切换平滑。同时，CPG-ZMP算法大大提高了机器人运动的稳定性。本文的算法具有较好的实用性，为机器人样机的生产奠定了基础。
In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in the paper. The control signals of knee-hip joints are obtained by the improved multi-DOF reduced order control theory. To realize stability control, the adaptive speed adjustment and gait switch are completed by the real-time computing of ZMP. Experiment results show that the quadruped robot's gaits are efficiently generated and the gait switch is smooth in the CPG control algorithm. Meanwhile, the stability of robot's movement is improved greatly with the CPG-ZMP algorithm. The algorithm in this paper has good practicability, which lays a foundation for the production of the robot prototype.