基于移动变长倒立摆的四足机器人对角支撑的稳定性控制  

Stability Control of Quadruped Robot Based on Movable and Variable Length Inverted Pendulum

作　　者：谢家兴[1] 俞志伟[1] 石叶 杨新海 戴振东[1] XIE Jia-xing;YU Zhi-wei;SHI Ye;YANG Xin-hai;DAI Zhen-dong(Institute of Bio-inspired Structure and Surface Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Shanghai Institute of Aerospace System Engineering,Shanghai 201109,China)

机构地区：[1]南京航空航天大学仿生结构与材料防护研究所,南京210016 [2]上海宇航系统工程研究所,上海201109

出　　处：《科学技术与工程》2018年第8期73-77,共5页Science Technology and Engineering

基　　金：国家自然科学基金(51475230;51105201;51435008)资助

摘　　要：四足机器人系统复杂,运动自由度多,其动态稳定性一直是机器人控制领域的难点与热点。为使四足机器人能够在复杂多样的自然环境中运动自如,针对四足机器人特殊的对角双足支撑动态稳定性问题进行探究。将足式机器人简化为可移动变长倒立摆模型,对其进行运动学和动力学分析,设计了一种运动稳定控制算法,使四足机器人能在对角双足支撑的情况下保持稳定,在受到外力的干扰时可自动调整,并再次恢复到平衡稳定状态。以搭建的四足仿狗机器人为实验平台,开展了对角支撑的平衡实验,实验结果表明四足机器人能够在对角支撑下精确控制自身的稳定,验证了该控制算法的可行性,为后期四足机器人动态稳定性行走奠定重要基础。Dynamic stability is hot but difficult in the field of robot control with the complexity of four-legged robot system and many degrees of freedom.In order to make the quadruped robot moving freely in the natural environment,the dynamic stability of the four-legged robot with diagonal feet support was researched.the four-legged robot is simplified as a movable and variable-length inverted pendulum model,and kinematic and dynamic analysis is carried out.An algorithm is designed to keep the quadruped robot stable in the case of diagonal foot support.Under the interference by the external force,the robot can be automatically adjusted,and reach a stable state once again.The experimental results show that the four-legged robot can precisely control the stability by itself with diagonal feet support,and verify the feasibility of the control algorithm,which will lay an important foundation for the research of legged robot s dynamic stability.

关 键 词：四足机器人 移动变长倒立摆 对角支撑 稳定性控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]