基于CPG的并联腿四足机器人步态控制  

Gait Control of Parallel Legged Quadruped Robot Based on CPG

作　　者：左照天 赵文韬 

机构地区：[1]东南大学自动化学院,江苏南京210096

出　　处：《工业控制计算机》2023年第11期65-67,共3页Industrial Control Computer

摘　　要：并联腿结构的四足机器人具有承载能力强、刚度大、运动精度高的优点,但控制复杂。为更好地控制,提出了一种串联结构等效方法对并联腿进行了分析,结合中枢模式发生器(CPG)对等效的髋、膝关节进行控制,从而实现四足机器人不同步态,并利用ADAMS与MATLAB/SIMULINK软件搭建了四足机器人的虚拟样机与控制系统。仿真实验结果表明,串联等效分析方法能够应用于并联腿结构,CPG可实现四足机器人的Walk与Trot步态,验证了该方法的可行性与有效性。The quadruped robot with parallel leg structure has the advantages of strong load-bearing capacity,high stiffness,and high motion accuracy,but the control is complex.In order to better control it,this paper proposes a series structure equivalent method to analyze the parallel legs,and combines the central pattern generator(CPG)to control the equivalent hip and knee joints,so as to achieve different gait of the quadruped robot.The virtual prototype and control system of the quadruped robot are built using ADAMS and MATLAB/SIMULINK software.The simulation experimental results show that the series equivalent analysis method can be applied to parallel leg structures,and CPG can achieve Walk and Trot gait of quadruped robots,verifying the feasibility and effectiveness of the method.

关 键 词：四足机器人 平面4R并联腿 步态控制 中枢模式发生器 ADAMS仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]