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兵工学报 ›› 2023, Vol. 44 ›› Issue (S2): 61-70.doi: 10.12382/bgxb.2023.0898

所属专题: 群体协同与自主技术

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基于力控的助力双轮拖车载荷

慕林栋1,2, 赵鑫磊1,2, 许鹏1,2, 邱天奇1,2, 江磊1,2,*()   

  1. 1 中兵智能创新研究院有限公司, 北京 100072
    2 群体协同与自主实验室, 北京 100072
  • 收稿日期:2023-09-11 上线日期:2024-01-10
  • 通讯作者:
    * 邮箱:
  • 基金资助:
    国家自然科学基金项目(92248303); 科技部重点研发计划项目(2022YFB4701500)

Two-wheeled Power-assist Trailer Payload Based on Force Control

MU Lindong1,2, ZHAO Xinlei1,2, XU Peng1,2, QIU Tianqi1,2, JIANG Lei1,2,*()   

  1. 1 China North Artificial Intelligence & Innovation Research Institute, Beijing 100072, China
    2 Collective Intelligence & Collaboration Laboratory, Beijing 100072, China
  • Received:2023-09-11 Online:2024-01-10

摘要:

为拓展四足仿生机器人的运输能力,提出一种助力双轮拖车载荷构型,自带动力并由四足仿生机器人牵引,从而获得更大的运输能力,同时兼顾整体的灵活机动能力,具备一定的越野能力。通过分析其运动学和动力学特点,建立双轮拖车载荷的动力学仿真模型,提出基于力控的助力控制算法,并以此为依据设计双轮拖车载荷实物样机,在该样机上对算法进行验证。实验结果表明,助力双轮拖车载荷可以在满载的情况下较好地响应四足仿生机器人的运动状态,并具有一定的越野能力,极大地拓展了四足仿生机器人的运输能力。

关键词: 双轮拖车载荷, 助力, 力控, 动力学仿真

Abstract:

A configuration of a two-wheeled power-assist trailer payload, which is towed by a quadruped bionic robot,is proposed to enhance the transportation capacity of quadruped bionic robots. This design enables increased transportation capacity while maintaining overall flexibility, maneuverability, and off-road capabilities. The kinematics and dynamics characteristics of the two-wheeled power-assist trailer payload is analyzed, a dynamic simulation model is developed, and a force-based assist control algorithm is proposed. A physical prototype of two-wheeled trailer payload is designed based on the proposed algorithm,and utilized for algorithm verification. The result shows that the two-wheeled power-assist trailer payload can effectively respond to the motion state of quadruped bionic robot under full load and exhibits significant off-road capability, thereby greatly expanding its transportation capacity.

Key words: two-wheeled trailer payload, power-assist, force control, dynamic simulation

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