Active Disturbance Rejection Control of Hydraulic Quadruped Robots Rotary Joints for Improved Impact Resistance  

作　　者：Huaizhi Zong Zhixian Yang Xiu Yu Junhui Zhang Jikun Ai Qixin Zhu Feng Wang Qi Su Bing Xu 

机构地区：[1]The State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,China [2]School of Mechanical Engineering,Zhejiang University,Hangzhou 310027,China [3]China Ship Development and Design Centre,Wuhan 201108,China

出　　处：《Chinese Journal of Mechanical Engineering》2024年第5期439-452,共14页中国机械工程学报（英文版）

基　　金：Supported by National Natural Science Foundation of China(Grant No.U21A20124);China Postdoctoral Science Foundation(Grant Nos.2023T160570,2022M722737);the Key Research and Development Program of Zhejiang Province of China(Grant No.2022C01039).

摘　　要：Hydraulic actuated quadruped robots have bright application prospects and significant research values in unmanned area investigation,disaster rescue and other scenarios,due to the advantages of high payload and high power to weight ratio.Among these fields,inevitable collision of robots may occur when contact with unknown objects,step on empty objects,or collapse,all of which have an impact on the working hydraulic system.To overcome the unknown external disturbances,this paper proposes an active disturbance rejection control(ADRC)strategy of double vane hydraulic rotary actuators for the hip joints of the quadruped robots.Considering the order of the valve-controlled actuator model,a three-stage tracking differentiator,a four-stage extended state observer,and a state error feedback controller are designed relatively,and the extended state observer is adopted to observe and compensate the uncertainty of external load torque of the system.The effectiveness of the ADRC method is verified in simulation environment and a single joint experimental platform.Moreover,the impact experiments of the limb leg unit are carried out after introducing the proposed ADRC strategy into hip joint,the limb leg unit of quadruped robots presents better impact resistance ability.

关 键 词：Quadruped robot Active disturbance rejection control Extended state observer Impact resistance Hydraulic rotary actuator 

分 类 号：TH137[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]