液压驱动四足机器人单腿竖直跳跃运动分析与控制  

Motion Analysis and Control of a Single Leg of Hydraulically Actuated Quadruped Robots during Vertical Hopping

作　　者：张雪峰[1,2] 秦现生[1,2] 冯华山[1,2] 谭小群[1,2] 李军[1,2] 杨雪宝[1,2] 

机构地区：[1]西北工业大学机电学院,陕西西安710072 [2]陕西省数字化特种制造装备工程技术研究中心,陕西西安710072

出　　处：《机器人》2013年第2期135-141,共7页Robot

基　　金：国家863计划资助项目(2011AA041001);国家自然科学基金资助项目(51275413);西北工业大学研究生创业种子基金资助项目(Z2012043)

摘　　要：针对非结构化环境下四足机器人高速高机动性要求,提出一种液压驱动单腿结构模式.面向竖直跳跃运动,建立液压驱动结构模式下单腿二阶段运动学模型和三阶段动力学模型;进行竖直跳跃运动状态分析、单腿整机质心以1.5m/s速度瞬时起跳的竖直跳跃运动逆解和仿真;并对竖直跳跃运动过程中地面冲击对机体结构的影响、髋关节和膝关节液压缸动作特性和输出力特性及液压设计等进行讨论.同时,考虑单腿竖直跳跃的周期性,应用液压偏置单腿动力学模型,采用PD迭代学习控制算法进行关节轨迹跟踪控制.仿真结果表明轨迹跟踪迅速收敛且鲁棒性好,为后续样机研究提供设计和控制依据.To address the requirements of high speed and mobility for quadruped robots under unstructured environments, a structure model of hydraulically actuated single leg is proposed. For vertical hopping, a two-phase kinematic model and a three-phase dynamic model of a single leg are established under the structure model. After that, the state analysis on the vertical hopping is conducted, and the inverse kinematics solution and the simulation of the hopping are also implemented for a single leg mass-center＇s instant vertical hopping with 1.5 m/s. Then, the ground impact on the body structure, the operation characteristics and the output force of the hip joint and knee joint＇s hydraulic cylinder, as well as the hydraulic system design during vertical hopping are discussed. Meanwhile, taking the periodicity of vertical hopping of a single leg into consideration, a PD （proportional-derivative） iterative learning control algorithm is applied to joint trajectory tracking, based on single leg＇s dynamic model with hydraulic offset. The simulation results indicate that rapid and robust convergence is achieved in trajectory tracking using the presented model, which offers the design and control references for the succeeding prototype development.

关 键 词：液压驱动 单腿 竖直跳跃 迭代学习控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]