基于Webots的足式机器人的运动仿真研究  

Webots-based Motion Simulation Study of a Footed Robot

作　　者：范丽婷 成仲江 胡叶 FAN Li-Ting;CHENG Zhong-Jiang;HU Ye(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang Liaoning110168,China)

机构地区：[1]沈阳建筑大学机械工程学院,辽宁沈阳110168

出　　处：《机电产品开发与创新》2023年第4期20-24,共5页Development & Innovation of Machinery & Electrical Products

基　　金：教育部产学合作协同育人项目(201902261019)。

摘　　要：为了提高四足机器人在建筑施工现场等非结构化地面行走的稳定性,在传统虚拟模型控制的基础上提出了一种基于模型预测算法的四足机器人运动控制方法。首先建立四足机器人的动力学模型,分析运动和足反力的力学关系,之后通过模型预测控制器(MPC)计算出所需要的地面反作用力,将动力学问题转化为带约束的凸优化问题,并将求解得到的地面反作用力映射到各个关节的力矩中,实现四足机器人的稳定行走。最后通过仿真软件Webots来实现四足机器人在非结构化地面的行走,仿真结果显示,四足机器人通过非结构化地面的姿态角波动较小可以很好的保持自身姿态,最后得出该方法能保持四足机器人在非结构化路面的通过性和稳定性。In order to improve the stability of the quadruped robot walking on unstructured ground such as construction sites,a quadruped robot motion control method based on model prediction algorithm is proposed on the basis of traditional virtual model control.Firstly,the dynamics model of the quadruped robot is established,and the mechanical relationship between motion and foot reaction force is analyzed.After that,the required ground reaction force is calculated by the model prediction controller(MPC),the dynamics problem is transformed into a Convex optimization problem with constraints,and the solved ground reaction force is mapped to the moment of each joint to realize the stable walking of the quadruped robot.Finally,the simulation software(Webots)is used to realize the walking of the quadruped robot on the unstructured ground.The simulation results show that the quadruped robot can maintain its attitude well through the unstructured ground with small fluctuation of attitude angle,and finally it is concluded that the method can maintain the passability and stability of the quadruped robot on the unstructured road.

关 键 词：模型预测控制 凸优化 四足机器人 Webots 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]