电动力液压驱动四足双臂机器人的设计与实现  

Design and Implementation of an Electro-hydraulic Quadruped Robot with Dual-arm

作　　者：刘松 柴汇[1,2] 李贻斌 宋锐[1,2] 李剑[3] 荣学文[1,2] 付鹏[1,2] 刘建利 侯晋冕 胡加银 LIU Song;CHAI Hui;LI Yibin;SONG Rui;LI Jian;RONG Xuewen;FU Peng;LIU Jianli;HOU Jinmian;HU Jiayin(School of Control Scienceand Engineering,Shandong University,Jinan 250061,China;Robotics Research Center,Shandong University,Jinan 250061,China;The First Research Instituteof the Ministry of Public Security,Beijing 100048,China)

机构地区：[1]山东大学控制科学与工程学院,山东济南250061 [2]山东大学机器人研究中心,山东济南250061 [3]公安部第一研究所,北京100048

出　　处：《机器人》2022年第6期649-659,共11页Robot

基　　金：国家自然科学基金(91948201,62073191,61973135);国家重点研发计划(2017YFC0806505);山东省重大科技创新工程(2019JZZY020317);山东大学基础研究基金(2019GN017)。

摘　　要：针对定基座机器人在复杂环境下作业能力不足的问题,研制出电动力液压四足双臂机器人,将浮动基座与双臂系统的优势有机结合,能够代替人员完成复杂环境下应急处置、工程作业等任务。详细阐述了四足双臂机器人的机械结构、机载电液动力系统、分布式控制系统以及仿真与操作训练平台的设计与实现。提出基于全身虚拟模型的足底力分配方法与足臂协调运动规划方法,实现了躯干浮动基座与双臂系统的联动,大大提升了机器人的作业能力和效率。通过搭建的仿真与操作训练平台完成单臂作业以及双臂协同作业的仿真,验证了所提出控制方法的有效性,并对机器人操作员进行操作训练。在实际样机实验中,测试了单臂抓取以及双臂协同抓取的能力,证明了四足双臂机器人能够满足复杂环境下移动作业的需求。Aiming at the lack of manipulability of the fixed-base robots in complex environments, an electro-hydraulic quadruped robot with dual-arm is developed, which integrates the advantages of a floating base and a dual-arm system,and can replace humans to complete emergency handling and engineering operations in complex environments. The design and implementation of mechanical mechanism, onboard electro-hydraulic system, distributed control system, simulation and operation training platform of the quadruped robot with dual-arm are presented. A method of feet forces distribution based on whole-body virtual model and a collaborative motion planning method of legs and arms are proposed to realize the coordinated movements of the floating base and the dual-arm system, which improves the manipulability and efficiency of the robot. Simulations of single-arm manipulation and dual-arm collaborative manipulation are carried out through the developed simulation and operation training platform, which verifies the effectiveness of the proposed control method. The operators perform robot operation training on the developed platform. In physical prototype experiments, the abilities of single-arm grasping and dual-arm collaborative grasping are verified, which proves that the quadruped robot with dual-arm can meet the requirements of mobile manipulation in complex environments.

关 键 词：四足机器人 足臂协调 电液动力源 分布式控制 浮动基座 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]