新型四足并联军用机器人步态控制算法及仿真  

Gait Control Algorithm and Simulation of New Parallel Quadruped Military Robot

作　　者：李姗姗[1,2] 王洪波[1,3] 陈建宇 张兴超 田俊杰 牛建业 LI Shanshan;WANG Hongbo;CHEN Jianyu;ZHANG Xingchao;TIAN Junjie;NIU Jianye(Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao 066004,Hebei,China;Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of Education,Yanshan University,Qinhuangdao 066004,Hebei,China;Institute of Engineering and Applied Technology,Fudan University,Shanghai 200433,China)

机构地区：[1]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066004 [2]燕山大学先进锻压成形技术与科学教育部重点实验室,河北秦皇岛066004 [3]复旦大学工程与应用技术研究院,上海200433

出　　处：《兵工学报》2023年第3期895-909,共15页Acta Armamentarii

基　　金：中央引导地方科技发展资金项目(206Z1801G、216Z1803G);河北省自然科学基金项目(E2020103001)。

摘　　要：在多关节步行机器人控制策略中,全部采用中央模式(CPG)网络进行控制的方法具有参数繁多、网络结构复杂的特点;机器人的工作环境通常多变且复杂,对机器人的灵活性和抗干扰能力提出了更高的要求,故仅采用单一的控制模式很难满足上述需求。针对上述问题,在机器人控制上把基于CPG的控制方法和基于虚拟模型的控制方法进行综合,对单腿为3-UPS机构的四足并联军用机器人设计了一种新型步态控制算法,用CPG完成机器人的基础步态,完成输入输出之间的非线性振荡器网络模型的搭建,并将模型的输出与关节电机的驱动力矩构成映射关系;再用虚拟模型生成行走时保持机器人平稳姿态所需要的足端虚拟力,并将足端虚拟力映射为关节驱动力矩。通过V-REP与MATLAB软件对该步态控制算法进行联合仿真实验。仿真结果表明:所提出的步态控制算法有效;新算法的优势在于简化控制网络的同时还能保证机器人在行走过程中拥有较强的灵活性和抗干扰能力,这种新型控制模式为四足并联军用机器人的步态控制提供了新的思路与方法。In the multi-joint walking robot control strategy,when only the CPG network control is used,there will be problems of various parameter and complex network structure.In addition,the robot’s work environment is usually varied and complex,requiring higher flexibility of robots and stronger anti-interference ability.So using a single control mode is difficult to meet the above requirements.To address these problems,by combining the CPG control method and the control method based on the virtual model,a new gait control algorithm is designed for parallel quadruped military robots whose each leg is a 3-UPS mechanism.CPG is used to complete the basic walking gait and the construction of the nonlinear oscillator network model between input and output,and then the output is mapped to the driving moment of the joint motor.The foot virtual force required to maintain the robot’s stable posture during walking is generated by the virtual model,and the foot virtual force is mapped to the joint’s driving moment.Finally,V-REP and MATLAB are used to simulate the proposed gait control algorithm,and the simulation results verify its effectiveness.The advantage of the proposed gait control algorithm is that it can simplify the control network and ensure the robot’s strong flexibility and antiinterference ability during walking,thus providing new insights into the gait control of parallel quadruped military robots.

关 键 词：四足并联军用机器人 步态控制算法 非线性振荡器 虚拟模型 V-REP仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]