论文部分内容阅读
针对四足机器人的奔跑控制问题,提出一种基于跳跃(Bound)步态的奔跑控制方法,通过腿部的快速小幅度摆动实现四足机器人的Bound步态。使用有限状态机将机器人的一个运动周期分为6个阶段,其中前腿与后腿各3个阶段,触地缓冲阶段采用竖直弹簧阻尼模型,蹬地阶段使用虚拟模型调整腿部对地推力方向,摆动相使用贝赛尔曲线规划足端轨迹。通过在动力学仿真软件中构建与液压驱动四足机器人SCalf-II同尺寸、同质量的虚拟样机对所提出的方法进行仿真验证与测试,结果表明机器人在5个周期后形成了有较强周期性的Bound步态,前进方向速度波动较小,各关节运动范围、速度、力矩均在SCalf-II设计指标之内,从而验证了该方法的正确性和有效性。
In order to solve the problem of run control of quadruped robot, a run control method based on bound gait is proposed. The quadruped robot’s Bound gait is achieved by the small swing of the leg. A finite state machine is used to divide a robot’s motion cycle into 6 stages, including 3 stages of front leg and hind leg, vertical spring damping model of the stage of contact buffering, and virtual ground model Direction, swing phase Bezier curve planning foot-end trajectory. The proposed method is validated and tested by constructing a virtual prototype with the same size and same quality as SCalf-II of a four-legged four-legged robot in a dynamic simulation software. The results show that the robot has a strong period after five cycles Sex Bound gait, the velocity in the forward direction is small, and the range, velocity and moment of each joint are all within the SCalf-II design index, which verifies the correctness and effectiveness of this method.