基于非线性弹簧模型的轮腿自平衡机器人跳跃算法研究  

Research on Jumping Algorithm of Wheel-legged Self-balancing Robot Based on Nonlinear Spring Model

作　　者：高靖松 金弘哲 朱延河[1] 高良 吕红亚 赵杰[1] 蔡鹤皋[1] GAO Jingsong;JIN Hongzhe;ZHU Yanhe;GAO Liang;LüHongya;ZHAO Jie;CAI Hegao(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001;Shanghai Aerospace Equipments Manufacturer Co.,Ltd,Shanghai 200000)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001 [2]上海航天设备制造总厂有限公司,上海200000

出　　处：《机械工程学报》2023年第9期51-62,共12页Journal of Mechanical Engineering

基　　金：国家自然科学基金(92048301);科技创新2030-“脑科学与类脑研究”重大(2021ZD0201403)资助项目。

摘　　要：轮腿式自平衡机器人兼具轮式的高速高效性和足式的地面适应性,在面对非结构化地形时可以进行跳跃越障。按照腿部自由度可将其分为单自由度式和二自由度式,其中单自由度式轮腿自平衡机器人结构更简单、质量更轻、控制难度更低。但在跳跃轨迹规划问题上,一方面单自由度腿部结构对髋关节出力需求更高,采用双质量块线性弹簧模型轨迹规划方法能够达到的最大越障高度有限;另一方面机器人在高度调整过程中整体质心会产生x向位移,对跳跃的准确性与稳定性造成影响。针对单自由度式轮腿自平衡机器人跳跃问题展开研究,首先提出了基于腾空动力学模型的轮部控制算法,使机身俯仰姿态在跳跃过程中始终可控,进而保证了跳跃的稳定性。之后提出了基于双质量块非线性弹簧模型的跳跃轨迹规划方法,相比基于线性弹簧模型的规划方法具有轨迹规划更加灵活,对髋关节出力要求更低等优点;然后进一步利用轮部在腾空过程中对机身俯仰角的控制效果,设计了一种机器人原地跳远方法,使机器人可以在更短的起跳时间和起跳距离下达到相同的跳跃距离;最后建立了单自由度式轮腿自平衡机器人三维简化模型及其运动学、单腿静力学以及腾空动力学模型,并通过Simulink-Adams联合仿真验证了轨迹规划与跟踪算法的可行性。The wheel-legged self-balancing robot has both the high speed and efficiency of the wheeled type and the ground adaptability of the legged type.When facing unstructured terrain,it can overcome obstacles by jumping.According to the degree of freedom of the legs,it can be divided into single-degree-of-freedom type and two-degree-of-freedom type.Among them,the single-degree-of-freedom type has a simpler structure,lighter weight and less difficult to control.However,on the problem of jump trajectory planning,on the one hand,the leg structure has a higher demand for the output of the hip joint,which limits the maximum obstacle height that can be achieved by using the two-mass linear spring model trajectory planning method;On the other hand,the overall center of mass will move in the x-direction during the height adjustment process,which will affect the accuracy and stability of jumping.A research on the jumping problem of a single-degree-of-freedom wheel-legged self-balancing robot is carried out.Firstly,in order to ensure the stability of jumping,a wheel control algorithm is proposed to control the pitch attitude of the fuselage during the whole jumping process.After that,a trajectory planning method based on a two-mass nonlinear spring model is proposed and proved to be more flexible and powerful comparing with the planning method based on the two-mass linear-spring model.Then,a method of long jump in situ is designed by using the wheel control algorithm furtherly,so that the robot can achieve the same jumping distance in a shorter takeoff time and distance.The three-dimensional model of the robot is established,as well as its kinematics,single-leg statics and aerial dynamics models.The jump trajectory planning and tracking algorithms proposed in this paper is realized in the Simulink-Adams simulation and proved to be feasible.

关 键 词：轮腿自平衡机器人 轨迹规划 跳跃控制 非线性弹簧 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]