一种四足机器人机体冲击力检测算法  

A Body Impact Detection Algorithm for Quadruped Robot

作　　者：常青 乔志霞[1] 罗庆生[2] CHANG Qing;QIAO Zhixia;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300134 [2]北京理工大学机电学院,北京100081

出　　处：《机床与液压》2019年第21期15-18,37,共5页Machine Tool & Hydraulics

基　　金：国家部委预研基金资助项目(40401060305)

摘　　要：四足机器人机体冲击力的有效检测能够为动态平衡控制提供决策依据,而与之相关的研究在现有文献中尚未见到,为此提出了一种新型的四足机器人机体冲击力检测算法;通过机器人的动力学分析和基于卡尔曼滤波器的姿态求解,获得腿部冲击力加速度和重力加速度在机体坐标系中的分量,并将其从加速度计输出信号中分离以获得机体冲击力加速度,完成对机体冲击力的检测;对四足机器人进行了动力学仿真。结果表明:所提出的算法能够有效地实现机体冲击力的检测。The effective body impact detection of quadruped robot can support the dynamic balance control decision,but related studies have not been appeared in the literature.A novel body impact detection algorithm for quadruped robot is proposed.The leg impact acceleration vector and gravity acceleration vector which expressed in the body coordinate were obtained by dynamic analysis and attitude calculation which based on Kalman filter,and both of them were separated from accelerometer output signal to get the body impact acceleration.Finally,the dynamic simulation is conducted to the quadruped robot,and the result verifies the validity of the proposed algorithm.

关 键 词：四足机器人 冲击力检测 姿态求解 动力学分析 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]