四足仿生机器人的分层实时控制系统  

Hierarchical real-time control system for a hydraulically actuated quadruped bionic robot

作　　者：马昕[1] 王维[1] 宋锐[1] 荣学文[1] 孟健[1] 李贻斌[1] 王博[2] 

机构地区：[1]山东大学控制科学与工程学院,山东济南250061 [2]山东大学(威海)机电与信息工程学院,山东威海264209

出　　处：《山东大学学报（工学版）》2012年第4期48-53,59,共7页Journal of Shandong University（Engineering Science）

基　　金：国家高技术研究发展计划(863计划)资助项目(2011AA041001);山东省自然科学基金资助项目(ZR2012FM036);山东大学自主创新基金资助项目(2011JC011);国家自然科学基金资助项目(61075091)

摘　　要：针对山东大学机器人研究中心自主研发的液压驱动四足仿生机器人对控制系统的实时性和稳定性要求,设计实现了具有3层结构的分层式控制系统,包括环境感知层、控制执行层和远程控制层,给出了控制系统总体设计方案。利用基于Socket的网络通信技术及基于管道和线程的进程间通信技术,完成了系统中实时数据通信;采用命名管道技术实现了传感器驱动模块挂载,利用MySql数据库技术实现了系统运行过程中的数据备份。通过挂载激光扫描仪数据采集子进程和Trot步态控制任务实验表明,该分层式控制系统的通信实时性良好。In order to meet the requirement for real-time and stability, a hierarchical real-time control system was de- signed and realized for a hydraulically actuated quadruped bionic robot developed by the Centre for Robotics of Shan- dong University. The hierarchical control system included the environment perception layer, the control implementation layer and the remote control layer. The overall design of the control system was given. Socket-based network communi- cation technology and pipe/thread-based inter-process communication technology were used for real-time communica- tion. The named pipe technology was used for mounting sensor drive model. MySql database technology was used for data backup during the system operation. The experimental results of controlling data acquisition with a laser scanner and controlling a trot gait showed that the hierarchical control system could match the requirements of real-time.

关 键 词：液压驱动 四足 仿生 机器人 分层 实时控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]