面向奔跑运动的刚–柔复合四足机器人单腿设计与实验研究  

Design and Experiment Study on a Quadruped Robot Single Leg with Composite Rigid-flexible Configuration for Gallop Gait

作　　者：张雪峰[1,2] 秦现生[1,2] 冯华山[1,2] 赵文涛[1,2] 李军[1,2] 谭小群[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5期582-588,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);高等学校博士学科点专项科研基金资助项目(20106102120021)

摘　　要：针对四足机器人奔跑运动对高速高机动性的要求,基于生物"狗"腿部跟腱生物力学特性,提出一种刚–柔复合四足机器人单腿结构模式.设计刚–柔复合四足机器人单腿结构,进行刚–柔复合单腿机构的有无冲击载荷动作特性、刚度特性、D-H运动学和足尖工作空间分析;考虑动态运动下的地面冲击等噪声因素,应用线性二次型高斯控制进行刚–柔复合单腿关节驱动器控制,且以竖直跳跃运动作为奔跑运动的重要基础运动原型,利用有限状态机和顶点高度反馈进行障碍地形环境下等高跳跃控制分析与仿真;最后进行了刚–柔复合四足机器人单腿连续竖直跳跃运动实验.分析与实验结果证明了结构设计的合理性和控制的有效性.To address the requirements of high speed and mobility for quadruped robots galloping, a composite rigid- flexible structure model is proposed for a single leg of quadruped robots. The composite rigid-flexible structure is designed for a single leg of quadruped robots, and operating characteristics with or without impact loading, stiffness characteristics, D-H kinematics and toe work space are analyzed. After that, taking noise factor such as ground impact under dynamic motion into consideration, linear quadratic Gaussian control is applied to driver control of a single leg of quadruped robots. Then, with vertical hopping as an important basic motion prototype for galloping, analysis and simulation of equal-height jumping control under disabled environment are conducted based on finite state machine and peak height feedback. Finally, continuous vertical hopping experiment of a single leg with composite rigid-flexible structure of quadruped robots is conducted. Analysis and experiment results indicate the rationality of the structure design and the effectiveness of the control scheme.

关 键 词：奔跑 四足机器人 单腿 刚-柔复合 等高跳跃 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]