A compliant control method for robust trot motion of hydraulic actuated quadruped robot
A compliant control method for robust trot motion of hydraulic actuated quadruped robot
复制标题
液压驱动四足机器人鲁棒小跑运动的柔顺控制方法
DOI：
10.1177/1729881418813235
复制
发表时间：
2018-11-22
影响因子：
2.3
通讯作者：
Zhou, Lelai
中科院分区：
文献类型：
--
作者：
Chen, Teng;Rong, Xuewen;Zhou, Lelai
针对液压驱动四足机器人提出了一种运动控制方法，旨在实现主动柔顺和鲁棒运动控制。该方法设计为三层结构。建立了伺服阀控非对称液压缸模型，得到了底层控制电流信号与期望扭矩之间的关系。中间层基于腿的虚拟模型以实现主动顺应性。上层基于弹簧加载的倒立摆模型，考虑躯干的姿态和速度来规划脚部轨迹。基于该框架，在仿真软件环境Webots中进行了小跑步态仿真。该运动控制方法已在Scalf-II(SDU CALF)机器人样机上实现，进行了全方位小跑步态、侧向碰撞恢复和爬坡实验。实验结果表明，该方法能有效地控制液压驱动机器人。
A motion control approach is proposed for hydraulic actuated quadruped robots, aiming to achieve active compliance and robust motion control. The approach is designed with a structure of three layers. Servo valve-controlled asymmetric hydraulic cylinder model is established to obtain the relationship between the desired torque and the control current signal, which is the bottom layer. The middle layer is based on the virtual model of the leg for active compliance. The upper layer considers the torso posture and velocity into planning the foot trajectories based on the spring loaded inverted pendulum model. Trotting gait simulations are conducted based on the proposed framework in the simulation software environment Webots. The motion control approach has been implemented on a robot prototype SCalf-II (SDU calf), where experiments have been conducted including omnidirectional trotting gait, lateral impact recovery and climbing slopes. The experiments demonstrate that the proposed approach can effectively control the hydraulic actuated robots.