四足机器人动步态下实时足底力优化方法的设计与验证  

Design and Verification of Real-time Plantar Force Optimization for Quadruped Robots in Dynamic Gait

作　　者：陈腾 李贻斌[1,2] 荣学文[1,2] CHEN Teng;LI Yibin;RONG Xuewen(School of Control Science and Engineering,Shandong University,Jinan 250061,China;Robotics Research Center,Shandong University,Jinan 250061,China)

机构地区：[1]山东大学控制科学与工程学院,山东济南250061 [2]山东大学机器人研究中心,山东济南250061

出　　处：《机器人》2019年第3期307-316,共10页Robot

基　　金：国家自然科学基金(U1613223,61773226);国家863计划(2015AA042201);国家重点研发计划(2017YFC0806505)

摘　　要：为实现四足机器人在动步态下的稳定行走及最优足底力分配,提出了融合全尺寸虚拟模型和动力学模型的四足机器人控制框架.在支撑相中,将躯干质心虚拟力与足底力分配问题转化成二次型优化问题,通过Gurobi库求最优值,实现实时的最优足底力分配.在摆动相中,融合动力学前馈和虚拟模型控制方法实现了平滑的轨迹追踪.通过Webots动力学仿真,将该方法与基本的位置阻抗控制方法在四足机器人平台上进行了对比分析,结果证明该方法能减小大约30%的足地交互冲击力,同时有效提高了机器人在运动中的稳定性.In order to achieve the stable walking and optimal feet forces distribution for quadruped robots in a dynamic gait, a control framework based on the fusion of the full-scale virtual model and the dynamic model is proposed. The distribution of the virtual forces at the torso center and the feet forces in the support phase is transformed into a quadratic optimization problem. The optimal distribution of feet forces is achieved in real time through Gurobi library. The dynamical feedforward and the virtual model control methods are integrated in the swing phase to achieve smooth trajectory tracking.Through dynamic simulation software Webots, the method is compared with the basic position impedance control method on the quadruped robot platform. The results show that the method can reduce the impact force by about 30% in the ground interaction, and the stability of the robot movement is effectively improved.

关 键 词：四足机器人 动步态 足底力分配 二次型优化 虚拟模型控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]