基于虚拟元件的负载型四足步行平台静步态行走控制

doi:10.3969/j.issn.1000-1093.2019.12.023

摘要/Abstract

摘要： 传统的基于逆运动学或逆动力学静步态行走控制方法易导致步行平台足端与地面产生较大冲击力、机体轨迹产生较大跟踪误差，使步行平台出现稳定性问题。为实现负载型四足步行平台静步态柔顺稳定行走，提出一种基于虚拟元件的静步态行走控制方法。将步行平台静步态行走控制分为机体运动控制及摆动腿运动控制两部分，分别在机体各自由度及摆动腿各自由度添加虚拟弹簧阻尼元件，将机体与摆动腿控制转换为虚拟力控制。运用序列二次规划方法将机体虚拟力分配到支撑腿足端。结合各腿的雅克比矩阵，得到支撑腿与摆动腿的驱动关节力矩，并设计了步行平台静步态行走状态机。运用MATLAB与ADAMS软件建立四足步行平台仿真模型，对平台静步态行走进行联合仿真。仿真结果表明，虚拟元件控制实现了步行平台复杂地形静步态平稳行走，平台能够适应复杂地形变化，足端与地面冲击力较小，证实了所提虚拟元件控制方法的有效性。

关键词: 四足步行平台, 负载型, 静步态行走, 行走控制, 虚拟元件

Abstract: The traditional static gait control method based on inverse kinematics or inverse dynamics is liable to produce a large impact between the feet and the ground, which causes a large tracking error of vehicle body trajectory. A virtual-components-based static gait control method is proposed to achieve the static gait compliance of load-carrying quadruped walking vehicle. The proposed method is divided into two parts: vehicle body motion control and swinging leg control. The virtual spring damper elements are added to the vehicle body's and swing leg's degrees of freedom, respectively, so as to convert the control of vehicle body and the swing leg to the control of virtual forces. And the sequential quadratic programming method is used to assign the virtual forces of vehicle body to the supporting legs. Based on the Jacobian matrix of each leg, the joint torques of supporting legs and swing leg are obtained. A state machine of vehicle’s static gait is designed. MATLAB and ADAMS are used to establish the simulation models for the quadruped walking vehicle, and the co-simulations are carried out for the quadruped walking vehicle. The simulated results show that the virtual-components-based control method enables the vehicle to walk on rough terrain in a stable gait. The vehicle is able to adapt to the change of terrain, and a impact between the feet and the ground is reduced by using the proposed control method.Key

Key words: quadrupedwalkingvehicle, loadcarrying, staticgait, walkingcontrol, virtualcomponent

中图分类号:

TP242.3

谭永营，晁智强，金毅，王飞. 基于虚拟元件的负载型四足步行平台静步态行走控制[J]. 兵工学报, 2019, 40(12): 2570-2579.

TAN Yongying, CHAO Zhiqiang, JIN Yi, WANG Fei. Control of Static Walking Gait of Load Carrying Quadruped Walking Vehicle Based on Virtual Components[J]. Acta Armamentarii, 2019, 40(12): 2570-2579.

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