四足仿生机器人单腿系统  

Leg Prototype of a Bio-inspired Quadruped Robot

作　　者：李满天[1] 蒋振宇[1] 郭伟[1] 孙立宁[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《机器人》2014年第1期21-28,共8页Robot

基　　金：国家863计划资助项目(2011AA040701);国家自然科学基金资助项目(61005076;61175107);机器人技术与系统国家重点实验室自主课题(SKLRS201006B;SKLRS201204B)

摘　　要：为实现四足仿生机器人动步态行走,设计一款基于液压驱动方式的机器人仿生单腿系统.首先,在四足哺乳动物肌肉-骨骼结构分析的基础上,确定了机器人单腿的自由度配置;其次,通过机器人在平坦路面上的行走运动仿真,获得关节输出特性;随后,在仿真研究的基础上,完成了关节驱动机构设计、液压驱动器选型、4自由度单腿设计以及控制系统设计;最后,搭建单腿子系统性能测试平台,并完成了单腿纵向弹跳实验.弹跳实验验证了机械结构和控制系统设计的正确性和相关控制算法的有效性.To realize the dynamic running of quadruped robots, a bio-inspired hopping leg prototype based on hydraulic actuation is developed. Firstly, the DOF （degree of freedom） configuration of a robot leg is discussed according to the anatomic analysis of quadruped mammals. Secondly, the trotting simulation on flat terrain is carded out to obtain the torque output characteristics of joints. Thirdly, the hydraulic actuators, joint driver mechanism and the 4DOF leg prototype are designed based on the analysis of simulation results, as well as the control system. At last, the test bench for the leg prototype is constructed to test the performance of the leg in vertical hopping experiments, in which the validity of the mechanical and control system design and the algorithms are verified

关 键 词：四足机器人 液压驱动 仿生设计 

分 类 号：TP182[自动化与计算机技术—控制理论与控制工程]