四足机器人节律柔顺行走控制  

Control of rhythmic compliant locomotion for quadruped robots

作　　者：邵雪松 黄奇峰 蔡奇新 刘建 王伟[2] 

机构地区：[1]江苏省电力公司电力科学研究院,江苏南京210019 [2]中国科学院自动化研究所,北京100190

出　　处：《计算机工程与设计》2014年第11期3938-3945,共8页Computer Engineering and Design

基　　金：国家自然科学基金项目(61174094;61273138);新世纪优秀人才支持计划资助基金项目(NCET-10-0506);天津市自然科学基金项目(13JCYBJC17400)

摘　　要：针对节律运动突变碰撞力大和柔顺性低的问题,改进基于Hopf振荡器的中枢模式发生器模型,提出一种节律柔顺行走控制方法。分析Hopf振荡器输出信号与关节运动之间的关系,整合膝关节变量,改变神经元之间的作用关系,实现对称步态和非对称步态行走;分析节律运动碰撞力突变对四足机器人行走产生的负面影响,提出基于碰撞力大小和四足机器人身体姿态的柔顺性评估方法;通过连续调整碰撞阶段大腿的摆动幅度,增大摆动周期,减小碰撞阶段的关节运动速度,形成机器人本体与地面之间的缓冲,实现节律柔顺行走。四足机器人慢走步态和对角小跑步态仿真实验验证了该控制方法的有效性。A rhythmic compliant control method was proposed through improving the centra＇l pattern generator modeled by Hopf oscillators. After analyzing the relationship between Hopf oscillator outputs and the ioint motion, the quadruped robot locomoted on symmetric gaits and asymmetric gaits by integrating knee joint variables and changing the interaction of neuron oscillators. Based on the analysis of the side effects of the mutation compact force, the compliance evaluation approach was developed in ac- cordance with the size of the compact force and the quadruped robot pose. The rhythmic control method, which implemented the adjustment of the swing amplitude of the thigh and the swing period of the leg, not only reduced the collision speed, but also formed a cushion between the quadruped body and the ground to accomplish the rhythmic compliant locomotion. The simulation experiment was carried out on a quadruped model for the walk gait and trot gait, and the results demonstrate the availability of this method.

关 键 词：四足机器人 柔顺行走控制 节律运动 Hopf振荡器 中枢模式发生器 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]