基于Kimura振荡器和虚拟模型的气动肌肉四足机器人步态控制

doi:10.3969/j.issn.1000-1093.2018.07.020

摘要/Abstract

摘要： 步态控制是四足机器人适应复杂地形的关键，为此对机器人步态进行规划和控制，提出一种步态控制器。针对气动肌肉驱动的四足机器人，根据机器人Denavit-Hartenberg参数建立单腿运动学模型；采用Kimura振荡器设计四足机器人步态的中枢模式发生器（CPG）网络，并改进振荡器输出与关节角度之间的映射关系；采用摆线函数规划机器人足端轨迹，基于生物神经反射机理和虚拟模型控制（VMC），以肢体摆动相位和足端触地信息为状态切换条件，建立沟壑地形自适应步态控制器；搭建Adams与MATLAB联合仿真平台和实物样机测试平台，对步态控制器进行验证。结果表明：改进的CPG步态网络可减小步态参数间的耦合，所生成信号的幅值和相位稳定；基于CPG和VMC的步态控制器能实现机器人对角步态运动，并能跨越宽度为机器人足端宽度的2.50倍沟壑。

关键词: 四足机器人, 中枢模式发生器, 气动肌肉, 虚拟模型控制, 沟壑地形

Abstract: Gait control is the key for quadruped robot adapting to complex terrain, for this purpose, gait controller is proposed for robot gait planning and control. For the quadruped robot driven by pneumatic muscles, the single-leg kinematic model is established based on Denavit-Hartenberg (DH) parameters. Kimura oscillator is used to design the central pattern generator (CPG) network of the quadruped robot gait, and the mapping among oscillator outputs and joint angles is improved. The cycloid function is used to plan the foot-end trajectory. Based on biological neural reflex mechanism and virtual model control (VMC), an adaptive gait controller for gully terrain is presented by taking the swing phase of limbs and the touchdown information of the feet as state switching conditions. Adams and MATLAB co-simulation platform and physical prototype test platform are set up to verify the gait controller. Simulation and experiment show that the improved CPG gait network can reduce the coupling between gait parameters, and the amplitude and phase of the generated signal are stable. The gait control controller based on CPG and VMC can be used to realize the diagonal gait motion of robot and gully crossing with a width of 2.50 times more than the width of the robot's foot.Key

Key words: quadrupedrobot, centralpatterngenerator, pneumaticmuscle, virtualmodelcontrol, gullyterrain

中图分类号:

TP242.3

张云，郭振武，陈迪剑，王斌锐. 基于Kimura振荡器和虚拟模型的气动肌肉四足机器人步态控制[J]. 兵工学报, 2018, 39(7): 1411-1418.

ZHANG Yun，GUO Zhen-wu，CHEN Di-jian，WANG Bin-rui. Gait Control of Quadruped Robot Driven by Pneumatic Muscle Based on Kimura Oscillator and Virtual Model[J]. Acta Armamentarii, 2018, 39(7): 1411-1418.

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第39卷
第7期2018 年7月兵工学报ACTA
ARMAMENTARIIVol.39No.7Jul.2018

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