基于中枢模式发生器的机器人足端轨迹规划  

Robot foot trajectory planning based on central pattern generator

作　　者：张峰 曹乐 徐浩洋 张思河 ZHANG Feng;CAO Le;XU Haoyang;ZHANG Sihe(School of Electronic and Electrical Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学电子电气工程学院,上海201620

出　　处：《中国医学物理学杂志》2024年第1期72-80,共9页Chinese Journal of Medical Physics

基　　金：国家自然科学基金青年项目(61703270)。

摘　　要：提出一种仿生足端轨迹控制法,与传统方法相比,该方法用单个CPG神经元,将振荡器产生的轨迹直接作用于六足机器人足端,通过逆向求解各关节角度,节律摆动机器人各足实现横向行走。可调节CPG振荡器中的负载因子,周期,幅值等参数,实现六足机器人足端轨迹中的步距,步幅以及在摆动相过程中的前摆轨迹和后摆轨迹调节。通过Matlab与Coppeliasim联合仿真,验证了改进后的模型应用在足端轨迹的可行性,与传统方法相比,参数调节灵活性高,并发处理效果好。A foot trajectory control method is proposed for biomimetic robot.Compared with traditional methods,the method uses a single CPG neuron to directly apply the foot trajectory generated by the oscillator to the hexapod robot.The joint angles is solved reversely for realizing the rhythmic foot swing,thereby achieving lateral walking.The step distance and step amplitude in foot trajectory,and the forward and backward swing trajectories during the swing phase can be adjusted by setting the load factor,period,amplitude and other parameters in the CPG oscillator.The feasibility of applying the improved Hopf model to foot trajectory is verified through the joint simulation using Matlab and Coppeliasim.Compared with traditional methods,the improved model has high flexibility in parameter adjustment and performs well in concurrency processing.

关 键 词：六足机器人 中枢模式发生器 Hopf振荡器 足端轨迹 节律运动 

分 类 号：R318[医药卫生—生物医学工程] TP242[医药卫生—基础医学]