基于MPC的双足机器人质心与足端联合步态规划  

Jointcenter-of-mass and foot-end point motion planning for bipedal robots based on MPC

作　　者：韩晓峰 周雨溪 赵慧[1,2] HAN Xiaofeng;ZHOU Yuxi;ZHAO Hui(Hubei Province Key Laboratory of Mechanical Transmission and Manufacturing Engineering,Wuhan University of Science and Technology,Wuhan430081,Hubei,China;Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan430081,Hubei,China)

机构地区：[1]武汉科技大学湖北省机械传动与制造工程重点实验室,湖北武汉430081 [2]武汉科技大学机器人与智能系统研究院,湖北武汉430081

出　　处：《农业装备与车辆工程》2024年第11期138-147,共10页Agricultural Equipment & Vehicle Engineering

摘　　要：为探索双足机器人在农业环境中的应用,研究双足机器人在复杂环境下的步态规划与稳定性控制问题,提出一种结合简化模型与模型预测控制(MPC)的控制方案。该方案包括离线和在线2个阶段。离线阶段,基于MPC通过三维线性倒立摆模型规划质心的轨迹和速度;在线阶段,根据质心的规划结果,基于MPC通过简化刚体动力学模型计算支撑腿的足端稳定力与力矩,由雅各比矩阵映射为关节驱动力矩,摆动腿由五次多项式生成的足端轨迹联合质心轨迹,通过逆运动学和关节PD控制生成驱动力矩。仿真结果表明,与关节角度控制方法相比,该方案在步行过程中质心前向轨迹的跟随精度提升了71.1%,并且降低了步态相位切换时足端冲击的影响,确保了双足机器人的步行稳定性,为双足机器人在复杂农业环境下的工作提供可能。To explore the application of biped robots in agricultural environments,a study was conducted on gait planning and stability control of biped robots in complex environments.A control scheme combining a simplified model and Model Predictive Control(MPC)was proposed.The scheme consists of offline and online stages.In the offline stage,the trajectory and velocity of the Center of Mass(CM)were planned using a 3D linear inverted pendulum model based on MPC.In the online stage,according to the planned CM trajectory,the stable forces and moments at the foot-end of the supporting leg were calculated using a simplified rigid body dynamics model based on MPC.These forces and moments were mapped to joint driving torques through the Jacobian matrix.The foot-end trajectory of the swing leg was generated by a quintic polynomial,and combined with the CM trajectory,driving torques were generated through inverse kinematics and joint PD control.The results showed that compared to the joint angle control method,this scheme improves the forward trajectory tracking accuracy of the CM by 71.1%during walking and reduces the impact of foot-end collisions during gait phase transitions,ensuring walking stability of the biped robot.This provided a feasible approach for the operation of biped robots in complex agricultural environments.

关 键 词：步态规划 简化模型 质心规划 足端规划 模型预测控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]