基于时滞耦合CPG的六足机器人步态控制  

A CPG Gait Control of Hexapod Robot Based on Time-Delay Coupling

作　　者：王鸿翔 吴开军[1] 宋自根[2] WANG Hongxiang;WU Kaijun;SONG Zigen(College of Information,Shanghai Ocean University,Shanghai 201306,China;School of Aerospace Engineering and Applied Mechanics,Tongji University,Shanghai 200092,China)

机构地区：[1]上海海洋大学信息学院,上海201306 [2]同济大学航空航天与力学学院,上海200092

出　　处：《力学季刊》2025年第1期39-50,共12页Chinese Quarterly of Mechanics

基　　金：国家自然科学基金(12472056,U2441202,12172212)。

摘　　要：受生物运动神经系统启发而来的中枢模式发生器(Central Pattern Generator,CPG)控制理论方法,可以实现腿足机器人产生多种不同的步态模式,在机器人的仿生运动控制中具有重要意义.针对六足机器人的步态运动控制,首先改进了经典的VDP(Van derPol)振荡器模型,增加了其周期节律信号上升和下降阶段的时间占比函数,进而可以实现机器人腿足摆动相和支撑相的参数调控.其次,采用改进的VDP振荡器作为功能结构单元,利用单元之间的耦合时滞实现对步态模式的调控,构建了单向环形的新型时滞耦合CPG控制器.进一步,我们在SolidWorks中设计了一款六足机器人模型,并通过ADAMS和MATLAB联合仿真实验,实现了六足机器人常见的三足、四足和五足三种步态模式.最后,通过对实物样机的步态测试实验,验证了所提出的时滞耦合CPG控制系统的可行性和有效性.Inspired by the nervous system of biological movement,Central Pattern Generator(CPG)control theory is applied to achieve various gait patterns in legged robots,which is of great significance in bio-inspired motion control.For the gait movement control of hexapod robots,the classical Van der Pol(VDP)oscillator model is first improved by adding a time proportion function to adjust the rising and falling phases of the periodic rhythm signal,enabling the regulation of the swing and support phases of the robot's legs.Next,the improved VDP oscillator is used as a functional unit,and the coupling delay between units is employed to regulate gait patterns,constructing a novel time-delay coupled CPG controller with a unidirectional loop.Furthermore,a hexapod robot model is designed in SolidWorks,and co-simulation experiments using ADAMS and MATLAB are conducted to achieve three common gait patterns:tripod,tetrapod,and wave gaits.Finally,gait tests are performed on a physical prototype to verify the feasibility and effectiveness of the proposed time-delay coupled CPG control system.

关 键 词：中枢模式发生器 时滞耦合 VDP振荡器 六足机器人 步态运动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]