| 摘要: |
| 目的 文章针对 Trot 步态下的四足机器人构型与运动学、步态与足端轨迹规划、姿态控制等问题展开研究。
方法 首先,根据足式机器人腿部构型特点,选定具有前肘后膝式的四足机器人,其腿部结构为关节式腿足构型;其
次,采用 D-H 坐标法建立四足机器人运动学,并利用各关节的几何关系采用几何图解法实现从 Joint Space 到 Task
Space 之间的推导,对足端轨迹的需求进行了分析,采用五次多项式对足端轨迹进行规划;然后,设计了姿态控制策
略,通过在 4 条腿足端与机身之间添加相对位置控制,并使用 PI 控制器对机身姿态传感器输出的姿态数据修正,
与轨迹规划结果结合,通过逆运动学解算,调整 4 条腿足端与机身之间相对位置以达到控制机身姿态的目的,将其
应用在四足机器人的 Trot 步态行走中。 结果 为了证明其有效性,采用 MATLAB 的 Simulink 进行姿态控制与开环
控制的仿真对比,结果显示四足机器人姿态控制策略下行走时的 R、P、Y 角明显小于开环控制下的 R、P、Y 角。 结论
结果表明该姿态控制策略应用在 Trot 步态中具有可行性,并且大幅提高四足机器人的行走稳定性。 |
| 关键词: 四足机器人 Trot 步态 姿态控制 仿真分析 |
| DOI： |
| 分类号: |
| 基金项目: |
|
| Walking Attitude Control Strategy for Quadruped Robot Based on Trot Gait |
|
LI Longkun FANG Honglei
|
|
School of Mechanical Engineering University of Shanghai for Science and Technology Shanghai 200093 China
|
| Abstract: |
| Objective This paper investigated the configuration and kinematics gait and foot trajectory planning and
attitude control of a quadrupedal robot in Trot gait. Methods First according to the leg configuration characteristics of
the foot robot the quadruped robot with front elbows and back knees was selected and its leg structure was the jointed leg
and foot configuration. Secondly the kinematics of the quadruped robot was established by the D-H coordinate method
and the derivation from Joint Space to Task Space was realized by using the geometric relationship of each joint and the
geometric graphical method. The requirements of the foot trajectory were analyzed and a fifth-degree polynomial was used
to plan the foot trajectory. The attitude control strategy was designed relative position controls were added between the
ends of the four legs and the body the PI controller was used to correct the attitude data output from the body attitude
sensor the output attitude data were combined with the results of trajectory planning through the inverse kinematics
solution the relative positions between the foot ends of the four legs and the body were adjusted to control the body
attitude. This attitude control strategy was applied to the Trot gait walking of the quadruped robot. Results To prove its
effectiveness Simulink of MATLAB was used to simulate and compare the attitude control with the open-loop control and
the results showed that R P and Y angles of the quadruped robot walking under the attitude control strategy were
significantly smaller than those under the open-loop control. Conclusion The results show that this attitude control
strategy is feasible to be applied to the Trot gait and the walking stability of the quadruped robot is greatly improved. |
| Key words: quadruped robot Trot gait attitude control simulation analysis |
