四足机器人跳跃步态控制方法

针对四足机器人的奔跑控制问题,提出一种基于跳跃(Bound)步态的奔跑控制方法,通过腿部的快速小幅度摆动实现四足机器人的Bound步态。使用有限状态机将机器人的一个运动周期分为6个阶段,其中前腿与后腿各3个阶段,触地缓冲阶段采用竖直弹簧阻尼模型,蹬地阶段使用虚拟模型调整腿部对地推力方向,摆动相使用贝赛尔曲线规划足端轨迹。通过在动力学仿真软件中构建与液压驱动四足机器人SCalf-II同尺寸、同质量的虚拟样机对所提出的方法进行仿真验证与测试,结果表明机器人在5个周期后形成了有较强周期性的Bound步态,前进方向速度波动较小,各关节运动范围、速度、力矩均在SCalf-II设计指标之内,从而验证了该方法的正确性和有效性。

Bound gait controlling method of quadruped robot

Aiming at the problem of running control of quadruped robot, a running control method based on bound gait was proposed. The bound gait of the quadruped robot was implemented by fast and small range swing motion of the legs. A finite state machine was used to separate one complete cycle of motion into six stages, three stages for fore legs and three for hind legs respectively. In contact and buffering stage, vertical spring-damper model was used; in thrust stage, virtual model was used to adjust the thrust direction of the legs; and in swing stage, Bezier curve was used to plan the trajectory of the toes. By constructing a virtual model with the same size and mass with the hydraulic driven quadruped robot SCalf-II in the dynamics simulation software, the control method was verified and tested, simulation results showed that the robot came into a cyclic bounding motion with strong periodicity after five periods, the speed vibration in forward direction was small, the joint range of motion, speed and torque were all within the range of the design objective of SCalf-II, which verified the correctness and effectiveness of the proposed method.