虚拟模型控制被动柔性脊柱四足机器人研究  

Research on Passive Flexible Spinal Quadruped Robot Controlled by Virtual Model

作　　者：白柳 罗金良[1] 胡鹏飞 任雪 Bai Liu;Luo Jinliang;Hu Pengfei;Ren Xue(School of Mechanical Engineering,University of South China,Hengyang,Hunan 421001,China)

机构地区：[1]南华大学机械工程学院,湖南衡阳421001

出　　处：《机电工程技术》2022年第3期202-206,共5页Mechanical & Electrical Engineering Technology

摘　　要：四足哺乳动物拥有着运动灵活、稳定性好、复杂环境适应性强等众多优点,得益于柔性脊柱与四肢的协调运动,共同完成对躯干的运动控制。针对目前四足机器人多为刚性躯干,在灵活性、稳定性和适应性方面存在不足。基于仿生学原理,设计了一种由舵机驱动含被动柔性脊柱的四足仿生机器人,并对机器人进行运动学分析,求出机器人腿部各关节转角与雅克比矩阵,对四足机器人的步态与足端轨迹进行规划,提出基于虚拟模型控制trot步态的控制方法,并使用Matlab与Adams联合仿真。仿真结果表明:四足机器人在该控制方法下能够实现连续平稳行走,初步验证了四足机器人结构设计合理,步态选择恰当,VMC控制方法稳定高效。Quadruped mammals have many advantages,such as flexible movement,good stability and strong adaptability to complex environment.Thanks to the coordinated movement of flexible spine and limbs,they jointly complete the motion control of trunk.At present,quadruped robots are mostly rigid torso,which has shortcomings in flexibility,stability and adaptability.Based on the principle of bionics,a quadruped bionic robot with passive flexible spine driven by steering gear was designed.The kinematics of the robot was analyzed,the joint angles and Jacobian matrix of the robot′s legs were obtained,and the gait and foot trajectory of the quadruped robot were planned.The control method of trot gait based on virtual model was proposed,Matlab and Adams were used for joint simulation.The simulation results show that the quadruped robot can realize continuous and stable walking under this control method.It is preliminarily verified that the structural design of the quadruped robot is reasonable,the gait selection is appropriate,and the VMC control method is stable and efficient.

关 键 词：四足机器人 柔性脊柱 VMC 运动仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]