单腿三维跳跃机器人动力学建模及控制  

Dynamic Modeling and Control of Monopod 3D Jumping Robot

作　　者：高美妍 许勇 郑佳乐 李俊楠 张晨阳 施浩然 刘凌霄 GAO Meiyan;XU Yong;ZHENG Jiale;LI Junnan;ZHANG Chenyang;SHI Haoran;LIU Lingxiao(School of Air Transport,Shanghai University of Engineering Science,Shanghai 201620,China;School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学航空运输学院,上海201620 [2]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《轻工机械》2023年第5期22-28,共7页Light Industry Machinery

摘　　要：在三维环境中实现连续、稳定和准确地跳跃是单腿跳跃机器人的研究难点,课题组设计了一种质心可准确抵达三维空间中目标位置点的单腿跳跃机器人。基于弹簧加载倒立摆(SLIP)动力学模型,实现了对机器人起跳速度的控制,使可控连续跳跃成为可能;基于反作用轮倒立摆(RWP)动力学模型和角动量守恒定律,实现了在3个惯性尾辅助下的三维姿态实时控制;集成SLIP模型,RWP模型和课题组提出的落地后转向策略,设计了机器人质心可精确到达预期三维目标点的连续跳跃算法。仿真结果表明:该单腿跳跃机器人可实现在三维环境中的连续、稳定和准确跳跃,从而验证了课题组提出的三维跳跃动力学模型及其控制算法的可行性。Continuous,stable and accurate jumping in three-dimensional(3D)environment is the research difficulty of monopod jumping robot.A monopod jumping robot with the center of mass that can accurately reach a target position point in 3D space was designed.Based on the spring loaded inverted pendulum(SLIP)dynamics model,the control of robot take-off speed was realized,making the controllable continuous bounce possible.Based on the reaction wheel pendulum(RWP)dynamics model and the law of conservation of angular momentum,the real-time 3D attitude control of robot with three inertial tails was realized.By integrating SLIP model,RWP model and the proposed post-landing steering strategy,a continuous jumping algorithm for the center of mass of robot to accurately reach the expected 3D target point was designed.The simulation results show that the monopod robot can achieve continuous,stable and accurate jumping in 3D environment,which verifies the feasibility of the proposed 3D jump dynamics model and its control algorithm.

关 键 词：单腿机器人 三维动态跳跃 弹簧加载倒立摆模型 反作用轮倒立摆模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]