四足机器人斜坡运动的自适应控制算法  

An Adaptive Control Algorithm for Quadruped Robot Trotting on a Slope

作　　者：常青 韩宝玲[2] 乔志霞[1] 李茜 CHANG Qing;HAN Bao-ling;QIAO Zhi-xia;LI Qian(School of Mechanical Engineering,Tianjin University of Commerce,Tianjin 300134,China;School of Mechanical 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300134 [2]北京理工大学机械与车辆学院,北京100081

出　　处：《北京理工大学学报》2019年第9期900-906,共7页Transactions of Beijing Institute of Technology

基　　金：省部级重点预研基金(104060103);天津市企业科技特派员项目(18JCTPJC64400)

摘　　要：受到自然界中四足动物运动的启发,提出了一种四足机器人对角小跑步态下的坡面运动自适应控制算法.在机器人质心原有运动轨迹上加入横向和纵向偏移补偿量,并采用符号微分策略梯度法对质心偏移补偿量进行自动调整,以减少机体翻转力矩和对角足着地时间差,从而提高机器人运动稳定性.在Webots软件中建立了四足机器人的模型并进行仿真试验,仿真结果表明所提出的算法能够有效提高四足机器人坡面运动的稳定性.Inspired by the quadruped locomotion,an adaptive control algorithm was proposed to adjust the trot gait of a quadruped robot on a slope automatically.The transverse and longitudinal displacement compensation adjusted by policy gradient via the signed derivative(PGSD)was introduced in the trajectory of the center of mass(COM)of the robot.The displacement compensation was arranged to reduce the robot’s turning moment and time difference between the two diagonal legs landing,and to improve the stability of robot locomotion.The simulation of the robot locomotion was performed with a simulation software Webots.The simulation results show that the adaptive control algorithm proposed in this paper can effectively improve the locomotion stability of the quadruped robot on a slope.

关 键 词：四足机器人 斜坡运动 自适应控制 符号微分策略梯度法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]