基于自适应模糊算法的四足机器人全身运动控制  

Adaptive fuzzy algorithm for whole-body motion control in quadruped robot

作　　者：夏怡寒 杨忠[1] 卓浩泽 游雨龙 眭耀宇 何乃峰 XIA Yihan;YANG Zhong;ZHUO Haoze;YOU Yulong;SUI Yaoyu;HE Naifeng(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Electric Power Science Research Institute of Guangxi Power Grid Co.,Ltd,Nanning 530023,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106 [2]广西电网有限责任公司电力科学研究院,广西南宁530023

出　　处：《应用科技》2024年第5期141-147,共7页Applied Science and Technology

摘　　要：针对传统四足机器人运动控制器增益固定,极易造成控制系统控制精度较差、动态性能稳定性不足等问题,设计了一种基于模糊理论与全身运动控制(whole body control,WBC)相结合的新型控制器。首先,根据四足机器人的质量分布特性,建立单刚体质心动力学模型,将贝塞尔曲线作为足端轨迹的规划曲线并结合机器人质心曲线规划策略,增强机器人运动的稳定性与安全性;其次,将全身运动控制系统中的位置与速度增益基于专家经验建立模糊规则库来进行自适应优化,以提高系统的鲁棒性;最后,通过三维仿真平台对该算法进行可行性验证。实验结果表明,所提出的自适应控制方法与传统的WBC相比,提高了四足机器人在轨迹跟踪过程中的稳定性和准确性。Due to the fixed gain of a traditional quadruped robot motion controller,it is very likely to cause problems such as poor control accuracy and insufficient stability in aspect of dynamic performance of the control system.In this study,a new controller was designed based on the combination of fuzzy theory and the whole body control(WBC).First,a single rigid body center-of-mass dynamics model was established according to the mass distribution characteristics of the quadruped robot,and the Bessel curve was used as the planning curve of the foot trajectory to enhance the stability and safety of robot motion by combining with the robot’s center-of-mass curve planning strategy.Then,the position and velocity gains in the whole-body motion control system were optimized by establishing a fuzzy rule base based on expert experience,so as to improve robustness of the system.Finally,the feasibility of the algorithm was verified by a 3D simulation platform.The experimental results show that compared with the traditional WBC,the proposed adaptive control method has improved the stability and accuracy of the quadruped robot during trajectory tracking.

关 键 词：四足机器人 单刚体模型 质心曲线规划策略 模糊控制 全身运动控制 自适应 鲁棒性 稳定性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]