基于全身力矩控制的双腿轮机器人跳跃方法研究  

Research on Jumping Method of Two Wheeled-leg Robot Based on Whole-body Torque Control

作　　者：辛亚先 李贻斌[1,2] 柴汇[1,2] 荣学文 李彬[3] XIN Ya-Xian;LI Yi-Bin;CHAI Hui;RONG Xue-Wen;LI Bin(School of Control Science and Engineering,Shandong University,Jinan 250061;Center for Robotics,Shandong University,Jinan 250061;School of Mathematics and Statistics,Qilu University of Technology(Shandong Academy of Sciences),Jinan 250353)

机构地区：[1]山东大学控制科学与工程学院,济南250061 [2]山东大学机器人研究中心,济南250061 [3]齐鲁工业大学(山东省科学院)数学与统计学院,济南250353

出　　处：《自动化学报》2023年第8期1635-1644,共10页Acta Automatica Sinica

基　　金：国家自然科学基金(62203278,61973185,61973135);山东省自然科学基金(ZR2017MEE033);山东省高等学校青创科技支持计划(2019KJN011)资助。

摘　　要：双腿轮机器人由于内在不稳定性以及强耦合非线性特性,其运动控制尤其是高动态运动控制非常困难.为此,提出基于最优力分配的全身力矩控制框架,可同时实现双腿轮机器人的自平衡与躯干位姿控制;为提高双腿轮机器人在高速运动时跨越垂直障碍物的能力,提出应对垂直障碍的跳跃动作规划方法,并基于全身力矩控制框架进行控制与实现;通过分析简化的轮式倒立摆模型,得到腾空时飞轮转动对俯仰姿态的动力学影响,实现腾空阶段俯仰姿态的调整.设置连续跳跃仿真实验与有无飞轮调整的俯仰姿态对比实验,其仿真结果证明所提方法的有效性与鲁棒性.The motion control,especially high dynamic motion control of a two wheeled-leg robot is difficult because of its inherent instability and strong coupling nonlinear characteristics.In this paper,a whole-body torque control framework based on optimal force distribution is proposed,which can realize the self-balancing and torso posture control of the two wheeled-leg robot simultaneously.A jumping movement planning method is proposed to improve the ability of the two wheeled-leg robot to step over vertical obstacles during high-speed movement based on the whole-body torque control method.By analyzing the simplified wheeled inverted pendulum model,the dynamic effect of the fly wheel rotation on the pitch attitude during flight is obtained,and the pitch attitude adjustment during the flight phase is realized.A continuous jump simulation experiment and a comparison experiment of pitch attitude with or without fly wheel adjustment are set up.The simulation results demonstrate the effectiveness and robustness of the proposed method.

关 键 词：双腿轮机器人 自平衡 最优力分配 动态控制 全身力矩控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]