基于中枢模式发生器的仿生机器狗步态控制的应用研究

由于人工规划产生的步态是比较僵硬的、缓慢的,缺乏灵活的自组织能力,与真正的动物步态存在很大差别;文章提出了机器狗生物步态的概念;以生物的中枢模式发生器CPG模型为核心建立仿生四足机器狗运动控制系统;根据哺乳动物的肢体运动关系,建立机器狗膝髋关节运动关系方程,并设计系统软硬件;设计的控制器能够有效地克服机器狗关节轨迹跟踪控制中耦合、力矩非线性等因素的影响,且具有自适应能力;通过仿真验证了应用于机器狗的生物CPG控制机理的控制方法是有效的。

Based on the CPG application of bionic robot gait study

Due to the artificial gait planning is more rigid,slow,lack of flexible self-organizing capacity,and the real animal gait there is a big difference.This paper presents a robotic gait of biological concepts.The biological central pattern generator CPG model is the core to establish four-legged robot motion control system,using different weight matrix to be the typical four-legged robot gait.According to the mammalian limb movement,and setting up the robot knee hip movements between the equation.Effectively overcome the tracking control of robot joint coupling,torque and other factors,non-linear.Design system software and hardware,and finally by simulation based on the biological rhythm of CPG control mechanism of the robot motion control method is effective.