四足爬行机器人步态分析与运动控制

为了实现液压作动的四足步行机器人的稳定行走,根据运动稳定裕量原则规划四足机器人的直行步态,保证三足支撑机体时稳定裕量为100 mm;针对液压缸运动加速度突变导致机体冲击振动的问题,提出了利用S型曲线作为各自由度的运动位移控制规律的方法。按照JQRI00型四足步行机器人原理样机的结构建立了虚拟样机模型,应用仿真软件对所设计步态进行了仿真,分析了步态的运动学、动力学特征和位移控制方法的运动特征;在四足步行机器人原理样机上进行了试验,并将试验与仿真结果进行了比较。研究结果表明,所设计的机器人步态可行,保证了机器人具有较好的行走稳定性;将S型曲线用于位移控制,消除了液压缸运动加速度的突变,进一步提高了机体运行的平稳性。

Gait analysis and motion control of quadruped robot

In order to achieve the stable walking of hydraulic pressure actuated quadruped walking robot, straight gait of the quadruped robot was planned by the principle of motion stability margin, and the stability margin was guaranteed for 100 millimeters when the robot＇s body was sustained by three legs. Aiming at the impact and shock of robot＇s body which were caused by the motion acceleration mutation of hydraulic cylinder, S-curve was presented and used as motion displacement control law of every degree of freedom. The virtual prototype model of JQRIO0 quadruped walking robot was constructed by the structure. The simulation of the designed gait, the analysis of the gait＇s kinematics and dynamics characteristics and the displacement control method＇s motion characteristics were done using simulation software. The results of experiments which were done on the prototype of quadruped walking robot were compared with the simulations＇. The results indicate that the designed gait is feasible, and it guarantees a good walking stability. Moreover, S-curve used as displacement control eliminates the acceleration mutation of hydraulic cylinder and makes the body more stable.