具有2DOF铰接式躯干的仿猎豹四足奔跑机器人  

A Cheetah-mimicking Quadruped Running Robot with 2DOF Articulated Trunk

作　　者：王琪 张秀丽[1] 江磊[2] 黄森威 姚燕安[1] WANG Qi;ZHANG Xiuli;JIANG Lei;HUANG Senwei;YAO Yan'an(School of Mechanical,Electronric and Control Engineering,Beijing Jiaotong University,Beijing 100044,China;Chira North Vehicle Research Institute,Beijing 100072,China)

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044 [2]中国北方车辆研究所,北京100072

出　　处：《机器人》2022年第3期257-266,共10页Robot

基　　金：国家自然科学基金青年科学基金(M09A800010)。

摘　　要：为了探索脊柱运动对腿运动的增强机理,设计了具有2自由度铰接式躯干的仿猎豹四足奔跑机器人。对带腾空相的跳跃(bound)步态奔跑运动的力学过程进行描述,采用阻尼型弹性负载倒立摆(D-SLIP)模型建立了四足机器人动力学模型。依据猎豹的奔跑运动模式,对四足机器人脊柱关节与腿关节的耦合运动进行了轨迹规划。提出一种改进的粒子群优化(PSO)算法,解决了机器人脊柱关节驱动机构尺寸和运动轨迹控制参数之间目标互斥的嵌套优化问题。对四足机器人跳跃奔跑运动进行动力学仿真,结果表明:脊柱与腿的协调运动可以增大奔跑步幅,使机器人产生腾空相,从而提高机器人的奔跑速度。In order to explore the mechanism of leg movements enhanced by spinal movements, a cheetah-mimicking quadruped running robot with 2-DOF(degree of freedom) articulated trunk is designed. The mechanical processes of the running motion in bound gait with flying phase are described. The dynamics model of the quadruped robot is established using a damped spring loaded inverted pendulum(D-SLIP) model. Referring to the running mode of cheetahs, the trajectories of the coupled motions of the spine joints and leg joints of the quadruped robot are planned. An improved PSO(particle swarm optimization) algorithm is proposed to solve the nested optimization problem with target mutual exclusion between the dimensional parameters of actuation mechanism of robot spine joint and the control parameters of motion trajectory. The dynamic simulations of the running motion of the quadruped robot in bound gait are carried out. The results show that the coordinated movements between the spine and the legs can increase the stride length of the quadruped robot and allow the robot generating flying phases, so as to improve the running speed of the robot.

关 键 词：四足机器人 铰接式躯干 仿生 动力学 粒子群优化 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]