足式机器人在非结构地形中的姿态求解算法  

Attitude Calculation Algorithm for Legged Robots in Unstructured Terrain

作　　者：常青 乔志霞[1] 罗庆生[2] Chang Qing;QiaoZhixia;Luo Qingsheng(School of Mechanical Engineering, Tianjin University of Commerce, Tianjin 300134, China;School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China)

机构地区：[1]天津商业大学机械工程学院,天津100081 [2]北京理工大学机电学院,北京100081

出　　处：《计算机测量与控制》2019年第2期151-155,共5页Computer Measurement &Control

基　　金：国家部委预研基金资助项目(40401060305);天津市企业科技特派员项目(18JCTPJC64400)

摘　　要：为了改进传统足式机器人姿态求解算法的不足,提出了一种新型的适用于非结构地形的姿态求解方法;该算法将动力学分析得到机体运动加速度信息与惯性测量单元(IMU)的信息相融合,通过卡尔曼滤波器计算机器人机体的姿态信息;所提的算法也适用于机器人机体存在冲击力的情况;为了验证算法的有效性,对两款典型的足式机器人在非结构地形中的运动进行了仿真,结果表明提出的算法能够准确的求解出机器人的姿态信息,具有良好的有效性和通用性。For the sake of improving on traditional attitude calculation algorithm of legged robots,a novel attitude calculation algorithm for legged robots in unstructured terrain is proposed.The body locomotion acceleration obtained by dynamic analysis is fused with the information of inertial measurement unit(IMU),then Kalman filter is used to calculate the attitude of the robot body.The proposed algorithm is applicable for the situation that the robot body is subjected to the external impact.Simulations of two typical legged robots were conducted to verify the effectiveness of the proposed algorithms.The result proves the accuracy,effectiveness and versatility of the proposed algorithm.

关 键 词：足式机器人 非结地形 姿态求解 卡尔曼滤波器 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]