高性能液压驱动四足机器人SCalf的设计与实现  

Design and Implementation of SCalf, an Advanced Hydraulic Quadruped Robot

作　　者：柴汇[1] 孟健[1] 荣学文[1] 李贻斌[1] 

机构地区：[1]山东大学控制科学与工程学院,山东济南250061

出　　处：《机器人》2014年第4期385-391,共7页Robot

基　　金：国家自然科学基金重点资助项目(61233014);国家自然科学基金青年基金资助项目(61305130);国家863计划资助项目(2011AA041001);山东大学自主创新基金资助项目(2012TS214)

摘　　要：详细阐述了液压驱动的四足仿生机器人SCalf的结构组成、机载动力系统、液压驱动器和实时控制系统.利用基于姿态解耦的运动控制方法,实现了机器人的平稳、快速运动.开发了基于足底接触力的腿部柔顺控制方法,提高了机器人对复杂地形的适应能力.在实际运行实验中,验证了SCalf机器人在非平整路面、易打滑路面、上下坡及上楼梯状况下的运动能力,以及受到侧向冲击时的抗扰动能力和自主平衡能力,证明了SCalf四足机器人能够满足较为复杂地面环境下的行走需求.An advanced hydraulic quadruped robot named SCalf is introduced, and its mechanism, onboard power system, hydraulic actuators and real-time control system are presented. By using a locomotion control based on attitude decoupling, SCalf can move fast and stably, SCalf is also able to adapt to complex terrains based on a leg compliant control system with contact force sensors on its feet. Numerous experiments show that SCalf can safely walk through various complex terrains including rough terrain, slippery terrain, slope and stairs. The self-balancing of SCalf under side impact has also been experimentally verified. All these results demonstrate the walking ability of SCalf on complex terrains.

关 键 词：四足机器人 液压驱动 柔顺控制 平衡控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]