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为提高四足机器人对角小跑运动的稳定性,实现机器人躯干6维运动方向控制的解耦,提出了一种基于虚拟模型的对角小跑步态控制方法.控制器主要包括支撑相虚拟模型控制和摆动相虚拟模型控制.在支撑相,建立了作用于躯干质心的虚拟力与对角支撑腿关节扭矩之间的数学关系,通过调整躯干虚拟力的大小控制躯干的高度与姿态,控制机器人前进速度和自转角速度.在摆动相,将机器人侧向速度控制引入到足端轨迹规划中,并通过虚拟的“弹簧-阻尼”元件驱动摆动足沿给定轨迹运动.此外,在控制器设计过程中,引入了状态机,用于监控机器人各腿的状态,并输出对角小跑步态相位切换指令.仿真实验结果表明,机器人能够以对角小跑步态在平地上进行全方位移动,跨越不平坦地形,并能够抵抗外部冲击,证明了文中控制方法的有效性和鲁棒性.
In order to improve the stability of diagonal trotting of quadruped robot and realize the decoupling of 6-dimensional motion direction control of robot torso, a control method of diagonal trot gait based on virtual model is proposed. The controller mainly includes support phase virtual model control And the control of phantom phantom.In the support phase, the mathematical relationship between the virtual force acting on the center of mass of the torso and the torque of the diagonal support leg is established, the height and attitude of the torso are controlled by adjusting the virtual force of the torso, Velocity and rotation angular velocity.In the wobble phase, the robot’s lateral velocity control is introduced into the foot trajectory planning and driven by the virtual “spring-damping” element to move the wobble along the given trajectory. In addition, in the controller design In the process, the state machine is introduced to monitor the status of each leg of the robot and output the phase switching command of the diagonal trotting gait.The simulation results show that the robot can move diagonally in all directions on the ground, Uneven terrain, and can resist external shocks, proving the validity and robustness of the control method in this paper.