Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait
Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait
复制标题
仿生弹性腿四足机器人小跑步态控制
DOI：
10.1016/s1672-6529(14)60043-3
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发表时间：
2014-04-01
影响因子：
4
通讯作者：
Ge, Shuzhi Sam
中科院分区：
文献类型：
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作者：
Li, Mantian;Jiang, Zhenyu;Ge, Shuzhi Sam
与轮式机器人相比，腿式机器人在不连续地形上具有更好的性能。然而，四足机器人的动态小跑和平衡控制仍然是一个具有挑战性的问题，特别是在机器人具有多关节腿的情况下。建立了躯干6个自由度，每条腿5个自由度的四足机器人三维模型。在弹簧加载倒立摆(滑)模型的基础上，首先讨论了身体控制算法，以了解腿在三维小跑中是如何工作的。然后，在关节功能分离原则的启发下，引入一定的生物特性，提出了两种产生快步和提供平衡的联合协调方法。在仿真中，机器人的最高速度达到了2.0ms(-1)，并在250 Kg.ms(-1)的横向扰动下保持了平衡。这些方法的有效性也在跑步机上运行到0.83ms(-1)的原型机器人上得到了验证。仿真和实验表明，腿式机器人具有良好的生物特性，如地面反作用力、弹簧式腿部行为等。
Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom (DOE) on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum (SLIP) model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s(-1) and keeps balance under 250 Kg.m.s(-1) lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 ms(-1) on the treadmill. The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.