基于二次规划的四足机器人机身轨迹优化研究  

Quadratic programming based body trajectory optimization of quadruped robot

作　　者：张明换 朱雅光 姬子恒 Zhang Minghuan;Zhu Yaguang;Ji Ziheng(School of Engineering Machinery,Changan University,Xi'an 710064,China)

机构地区：[1]长安大学工程机械学院,西安710064

出　　处：《国外电子测量技术》2022年第9期101-108,共8页Foreign Electronic Measurement Technology

基　　金：国家自然科学基金(51605039);中央高校基础研究基金(300102259308,300102259401);陕西省国际合作项目(2020KW-064)资助。

摘　　要：为使四足机器人在无地形感知运动过程中能表现出较稳定的运动性能,结合对角步态运动特点,提出了一种对角步态下零力矩点的约束方法。采用二次规划的优化方法分别在线优化出行走、对角步态下机器人稳定运动的机身轨迹。将优化出的两种步态下机身轨迹采用相同的映射关系映射到全身状态,结合规划控制框架,通过仿真验证两种步态下机器人的运动状态及轨迹跟随情况。仿真结果表明,机器人以行走步态运动时位置、速度跟踪效果及机身姿态稳定性相比对角步态较好,且两种步态下机器人都能跟随规划轨迹保持稳定运动。In order to make the quadruped robot exhibit more stable motion performance during terrain-aware motion, this paper combines the characteristics of diagonal gait motion and proposes a constraint method with zero moment points under diagonal gait. A quadratic programming optimization method is used to optimize the robot body trajectory for stable motion under walking and diagonal gaits respectively online. The optimized trajectories are mapped to the whole-body state using the same mapping relationship, the motion state and trajectory following of the robot under the two gaits are verified by simulation in combination with the planning control framework. The simulation results show that the robot has better position and velocity tracking and body posture stability in walking gait than diagonal gait, and the robot can follow the planned trajectory and maintain stable motion under two gaits.

关 键 词：中枢模式发生器 零力矩点 支撑多边形 PD控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]