新型四足并联军用机器人步态控制算法及仿真

doi:10.12382/bgxb.2021.0796

兵工学报 ›› 2023, Vol. 44 ›› Issue (3): 895-909.doi: 10.12382/bgxb.2021.0796

新型四足并联军用机器人步态控制算法及仿真

李姗姗¹^,²(), 王洪波¹^,³(), 陈建宇¹^,²(), 张兴超¹^,²(), 田俊杰¹^,²(), 牛建业¹^,²()

¹ 燕山大学河北省并联机器人与机电系统实验室，河北秦皇岛 066004
² 燕山大学先进锻压成形技术与科学教育部重点实验室，河北秦皇岛 066004
³ 复旦大学工程与应用技术研究院，上海 200433

收稿日期:2021-11-24 上线日期:2022-07-01
作者简介:
李姗姗(1990—)，女，博士研究生，研究方向为并联机构理论及其应用。E-mail: lishanshan1330704@163.com；
王洪波(1956—)，男，教授，博士生导师，研究方向为机器人技术与应用。E-mail:wanghongbo@fudan.edu.cn；
陈建宇(1994—)，男，硕士研究生，研究方向为并联机构理论及其应用。E-mail:15133518326@163.com；
张兴超(1995—)，男，博士研究生，研究方向为并联机构理论及其应用。E-mail：1223806318@qq.com；
田俊杰(1992—)，男，博士研究生，研究方向为康复护理机器人。E-mail: tjjie123@163.com
基金资助:
中央引导地方科技发展资金项目(206Z1801G); 中央引导地方科技发展资金项目(216Z1803G)); 河北省自然科学基金项目(E2020103001)

Gait Control Algorithm and Simulation of New Parallel Quadruped Military Robot

LI Shanshan¹^,²(), WANG Hongbo¹^,³(), CHEN Jianyu¹^,²(), ZHANG Xingchao¹^,²(), TIAN Junjie¹^,²(), NIU Jianye¹^,²()

¹ Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, Hebei, China
² Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao 066004, Hebei, China
³ Institute of Engineering and Applied Technology, Fudan University, Shanghai 200433, China

Received:2021-11-24 Online:2022-07-01

摘要/Abstract

摘要：

在多关节步行机器人控制策略中，全部采用中央模式(CPG)网络进行控制的方法具有参数繁多、网络结构复杂的特点；机器人的工作环境通常多变且复杂，对机器人的灵活性和抗干扰能力提出了更高的要求，故仅采用单一的控制模式很难满足上述需求。针对上述问题，在机器人控制上把基于CPG的控制方法和基于虚拟模型的控制方法进行综合，对单腿为3-UPS机构的四足并联军用机器人设计了一种新型步态控制算法，用CPG完成机器人的基础步态，完成输入输出之间的非线性振荡器网络模型的搭建，并将模型的输出与关节电机的驱动力矩构成映射关系；再用虚拟模型生成行走时保持机器人平稳姿态所需要的足端虚拟力，并将足端虚拟力映射为关节驱动力矩。通过V-REP与MATLAB软件对该步态控制算法进行联合仿真实验。仿真结果表明：所提出的步态控制算法有效；新算法的优势在于简化控制网络的同时还能保证机器人在行走过程中拥有较强的灵活性和抗干扰能力，这种新型控制模式为四足并联军用机器人的步态控制提供了新的思路与方法。

关键词: 四足并联军用机器人, 步态控制算法, 非线性振荡器, 虚拟模型, V-REP仿真

Abstract:

In the multi-joint walking robot control strategy, when only the CPG network control is used, there will be problems of various parameter and complex network structure. In addition, the robot’s work environment is usually varied and complex, requiring higher flexibility of robots and stronger anti-interference ability. So using a single control mode is difficult to meet the above requirements. To address these problems, by combining the CPG control method and the control method based on the virtual model, a new gait control algorithm is designed for parallel quadruped military robots whose each leg is a 3-UPS mechanism. CPG is used to complete the basic walking gait and the construction of the nonlinear oscillator network model between input and output, and then the output is mapped to the driving moment of the joint motor. The foot virtual force required to maintain the robot’s stable posture during walking is generated by the virtual model, and the foot virtual force is mapped to the joint’s driving moment. Finally, V-REP and MATLAB are used to simulate the proposed gait control algorithm, and the simulation results verify its effectiveness. The advantage of the proposed gait control algorithm is that it can simplify the control network and ensure the robot’s strong flexibility and anti-interference ability during walking, thus providing new insights into the gait control of parallel quadruped military robots.

Key words: parallel quadruped military robot, gait control algorithm, nonlinear oscillator, virtual model, V-REP simulation

李姗姗, 王洪波, 陈建宇, 张兴超, 田俊杰, 牛建业. 新型四足并联军用机器人步态控制算法及仿真[J]. 兵工学报, 2023, 44(3): 895-909.

LI Shanshan, WANG Hongbo, CHEN Jianyu, ZHANG Xingchao, TIAN Junjie, NIU Jianye. Gait Control Algorithm and Simulation of New Parallel Quadruped Military Robot[J]. Acta Armamentarii, 2023, 44(3): 895-909.

图/表 28

图1 整机机构

Fig. 1 Whole robot

图2 单腿机构

Fig. 2 One leg mechanism

图3 机器人单腿的结构图

Fig. 3 Diagram of a single leg of the robot

图4 非线性振子耦合网络

Fig. 4 Coupled nonlinear oscillator network

图5 单腿周期行走图

Fig. 5 Diagram of periodic walking of a single leg

图6 实际关节角度图

Fig. 6 Diagram of actual joint angle

表1 步长与关节摆角关系

Table 1 Relationship between step size and joint swing angle

步长／mm	A_max／(°)	B_max／(°)	L_s／mm	L_sm／mm
400	55.73	47.17	1 014.35	1 000.45
420	56.00	47.51	1 015.20	1 000.61
440	56.27	47.84	1 016.07	1 000.80
460	56.53	48.18	1 016.97	1 001.01
480	56.80	48.51	1 017.89	1 001.25
500	57.06	48.84	1 018.84	1 001.51
520	57.32	49.17	1 019.80	1 001.80
540	57.57	49.49	1 020.80	1 002.11
560	57.83	49.81	1 021.81	1 002.45
580	58.08	50.13	1 022.85	1 002.81
600	58.33	50.45	1 023.91	1 003.19
620	58.58	50.76	1 025.00	1 003.61

表2 抬腿高度与伸缩杆长度关系

Table 2 Relationship between leg height and telescopic rod length

h／mm	L／mm	L_min／mm
200	1 000	800
204	1 020	816
208	1 040	832
212	1 060	848
216	1 080	864
220	1 100	880

图7 非线性振子耦合网络图

Fig. 7 Diagram of coupled nonlinear oscillator network

图8 trot步态转动电机输出曲线图

Fig. 8 Output curve of the trot motor

图9 Trot步态直线电机输出曲线图

Fig. 9 Output curve of the trot linear motor

图10 机体俯仰角调整图

Fig. 10 Diagram of pitch angle adjustment of the body

图11 倾覆力矩图

Fig. 11 Overturning moment diagram

图12 修正力矩图

Fig. 12 Corrected moment diagram

图13 修正力矩图

Fig. 13 Corrected moment diagram

图14 非线性振子耦合网络图

Fig. 14 Diagram of coupled nonlinear oscillator network

图15 步态规划整体框图

Fig. 15 Overall block diagram of gait planning

图16 最终模型图

Fig. 16 Final model drawing

图17 步态控制模型

Fig. 17 Gait control model

图18 平地实验

Fig. 18 Ground experiment

图19 机体姿态与高度

Fig. 19 Body attitude and altitude

图20 机体速度与足端力

Fig. 20 Body speed and foot force

图21 斜坡实验

Fig. 21 Slope experiment

图22 机体姿态与高度

Fig. 22 Body attitude and altitude

图23 机体速度与足端力

Fig. 23 Body speed and foot force

图24 冲击实验

Fig. 24 Impact test

图25 机体姿态与高度

Fig. 25 Body attitude and altitude

图26 机体速度与足端力

Fig. 26 Body speed and foot force

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新型四足并联军用机器人步态控制算法及仿真

Gait Control Algorithm and Simulation of New Parallel Quadruped Military Robot

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