串联式轮腿机器人姿态控制方法  

Attitude Control Method of Serial Wheel-legged Robot

作　　者：谢景硕 韩立金[1,2] 刘辉[1,2] 任晓磊 侯泓钰 商庆一 XIE Jingshuo;HAN Lijin;LIU Hui;REN Xiaolei;HOU Hongyu;SHANG Qingyi(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;Institute of Advanced Technology,Beijing Institute of Technology,Jinan 250300,Shandong,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]北京理工大学济南前沿技术研究院,山东济南250300

出　　处：《兵工学报》2025年第2期76-90,共15页Acta Armamentarii

基　　金：国家自然科学基金青年基金项目(52002212)。

摘　　要：针对串联式四轮腿机器人精确控制姿态的问题,提出一种以无偏差模型预测控制为核心的运动控制框架。所涉及的模型为考虑机身、腿部和车轮的质量分布而建立的合成质心动力学模型,并且基于自抗扰控制思想,将模型的未建模特性视为扰动,建立扩张状态观测器对其进行估计和补偿;为解决姿态调节过程中车轮易滚动导致腿部外展的问题引入关节闭环控制,同时设计额外的车轮控制策略以辅助约束腿部状态。在串联式轮腿机器人上进行了硬件试验,研究结果表明,新的运动控制框架能够准确跟踪期望姿态信号,有效抑制地形扰动和外力扰动,确保机器人的行驶平稳性和抗干扰能力。To address the precise attitude control of a serial wheel-legged robot,a motion control framework with offset-free model predictive control as the core is proposed.Firstly,a concentrated center-of-mass dynamics model is established,which considers the mass distribution of body,legs,and wheels.Based on the concept of active disturbance rejection control,the unmodeled characteristics of the model are treated as disturbances,and an extended state observer is established to estimate and compensate for the unmodeled characteristics.Furthermore,the joint control is introduced to solve the problem that the wheels are easy to roll and cause leg abduction during attitude adjustment,and an additional wheel control strategy is designed to assist in constraining the leg state.The hardware experiments are conducted on the serial wheel-legged robot.The results show that the proposed motion control framework can accurately track the desired attitude signal,effectively suppress the terrain disturbances and external force disturbances,and ensure the driving stability and disturbance resistance capability of the robot.

关 键 词：串联式轮腿机器人 姿态控制 扩张状态观测器 无偏差模型预测控制 

分 类 号：TJ301[兵器科学与技术—火炮、自动武器与弹药工程]