基于混合神经振荡器的爬行四足机器人运动协调控制

doi:10.3969/j.issn.1000-1093.2020.11.018

摘要/Abstract

摘要： 中枢神经模式振荡器常用于多足机器人运动协调控制。为实现含有主动柔性躯干的爬行四足机器人运动协调控制，构建一种混合神经振荡器。该振荡器利用Hopf振荡器和Kuramoto振荡器对机器人四肢和躯干进行协调控制，并通过建立二者之间的耦合关系实现四肢与躯干的协调运动。利用仿真平台搭建爬行四足机器人虚拟样机，对静走步态、对角步态以及两种步态间柔顺切换分别进行直线运动仿真，同时对该协调控制进行可行性验证，获得虚拟样机运动图像以及其足端轨迹曲线。仿真结果表明：该混合神经振荡器可实现机器人的静走与对角步态直线运动；通过建立静走和对角步态下四肢与躯干之间的协调关系，并改变机器人各腿部振荡器之间的相位差，能进行两种步态之间的柔顺切换。

关键词: 爬行四足机器人, 混合神经振荡器, 步态, 协调控制

Abstract: The central pattern generator (CPG) is often used for motion coordination control of legged robots. A hybrid neural oscillator is established for the motion coordination control of crawling quadruped robot with active flexible trunk. The proposed oscillator uses Hopf and Kuramoto oscillators to control the motion of robot limbs and trunk. The hybrid neural oscillator is used to achieve the coordinated behavior by building the coupling relationship between two kinds of oscillator. A virtual prototype of a crawling quadruped robot is established using the simulation platform, and the linear motion simulation experiment is performed for the walk and trot gait and the compliant switching between the two gaits. At the same time, the feasibility of motion coordination control is verified, and the linear motion video and foot trajectory of the virtual proptotype are obtained by the simulation platform. The simulated results show that the hybrid neural oscillator can bring about the linear motion of robot under walk and trot gait. With establishing the coordination relationship between the limbs and the trunk under the walk and trot gaits, the two gaits of robot can be switched by changing the phase difference among robot's limb oscillators.

Key words: crawlingquadrupedrobot, hybridneuraloscillator, gait, coordinatedcontrol

中图分类号:

TP242.3

刘志成，郑莉芳，王旭. 基于混合神经振荡器的爬行四足机器人运动协调控制[J]. 兵工学报, 2020, 41(11): 2303-2312.

LIU Zhicheng， ZHENG Lifang， WANG Xu. Gait Coordination Control of Crawling Quadruped Robot Based on Hybrid Neural Oscillator[J]. Acta Armamentarii, 2020, 41(11): 2303-2312.

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第41卷第11期2020 年11月
兵工学报ACTA ARMAMENTARII
Vol.41No.11Nov.2020

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