基于CPG的四足机器人坡面稳定行走控制研究  

CPG-based Stable Walking Control of the Quadruped Robot on the Slope

作　　者：魏扬帆 周川[1] 郭健 许鹏[2] WEI Yang-fan;ZHOU Chuan;GUO Jian;XU Peng(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China;China North Vehicle Research Institute,Beijing 100072,China)

机构地区：[1]南京理工大学自动化学院,江苏南京210094 [2]中国北方车辆研究所,北京100072

出　　处：《控制工程》2021年第6期1055-1060,共6页Control Engineering of China

基　　金：国家自然科学基金资助项目(61673219,61673214);十三五装备预研共用技术项目(41412040101);江苏省重点研发计划资助项目(BE2017161)。

摘　　要：针对四足机器人在坡面上的行走稳定性问题,提出了基于带反馈项的中枢模式发生器(CPG)的步态控制策略。根据零力矩点(ZMP)判据分析四足机器人在斜坡上的运动稳定性,引入参数在线调节机制适应外界环境变化。通过差分进化算法去调节CPG网络模型中的反馈项参数,减小零力矩点在水平面投影与支撑线的距离,从而增大四足机器人在斜坡上的稳定裕度。最后,仿真结果表明该策略能有效地提高四足机器人在斜坡上行走的稳定性。A gait control strategy based on the central pattern generator(CPG) with feedback is proposed to solve the problem of walking stability of quadruped robots on slope. Based on zero moment point(ZMP) criterion, the stability analysis of the quadruped robot on the slope is presented. The parameter online adjustment mechanism is introduced to adapt changes of external environment. The differential evolution algorithm is used to adjust the feedback parameters in the CPG network model to reduce the distance between the ZMP projected on the horizontal plane and the support line. Therefore, the stability margin of the quadruped robot on the slope is improved. Finally, the simulation results show that the strategy can effectively improve the stability of the quadruped robot walking on the slope.

关 键 词：四足机器人 中枢模式发生器 斜坡 零力矩点 差分进化算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]