基于Trot步态的四足机器人行走姿态控制策略  

Walking Attitude Control Strategy for Quadruped Robot Based on Trot Gait

作　　者：李龙坤 方鸿磊 LI Longkun;FANG Honglei(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机械工程学院,上海200093

出　　处：《重庆工商大学学报(自然科学版)》2025年第2期56-62,共7页Journal of Chongqing Technology and Business University:Natural Science Edition

摘　　要：目的文章针对Trot步态下的四足机器人构型与运动学、步态与足端轨迹规划、姿态控制等问题展开研究。方法首先,根据足式机器人腿部构型特点,选定具有前肘后膝式的四足机器人,其腿部结构为关节式腿足构型;其次,采用D-H坐标法建立四足机器人运动学,并利用各关节的几何关系采用几何图解法实现从Joint Space到Task Space之间的推导,对足端轨迹的需求进行了分析,采用五次多项式对足端轨迹进行规划;然后,设计了姿态控制策略,通过在4条腿足端与机身之间添加相对位置控制,并使用PI控制器对机身姿态传感器输出的姿态数据修正,与轨迹规划结果结合,通过逆运动学解算,调整4条腿足端与机身之间相对位置以达到控制机身姿态的目的,将其应用在四足机器人的Trot步态行走中。结果为了证明其有效性,采用MATLAB的Simulink进行姿态控制与开环控制的仿真对比,结果显示四足机器人姿态控制策略下行走时的R、P、Y角明显小于开环控制下的R、P、Y角。结论结果表明该姿态控制策略应用在Trot步态中具有可行性,并且大幅提高四足机器人的行走稳定性。Objective This paper investigated the configuration and kinematics,gait and foot trajectory planning,and attitude control of a quadrupedal robot in Trot gait.Methods First,according to the leg configuration characteristics of the foot robot,the quadruped robot with front elbows and back knees was selected,and its leg structure was the jointed leg and foot configuration.Secondly,the kinematics of the quadruped robot was established by the D-H coordinate method,and the derivation from Joint Space to Task Space was realized by using the geometric relationship of each joint and the geometric graphical method.The requirements of the foot trajectory were analyzed,and a fifth-degree polynomial was used to plan the foot trajectory.The attitude control strategy was designed:relative position controls were added between the ends of the four legs and the body;the PI controller was used to correct the attitude data output from the body attitude sensor;the output attitude data were combined with the results of trajectory planning;through the inverse kinematics solution,the relative positions between the foot ends of the four legs and the body were adjusted to control the body attitude.This attitude control strategy was applied to the Trot gait walking of the quadruped robot.Results To prove its effectiveness,Simulink of MATLAB was used to simulate and compare the attitude control with the open-loop control,and the results showed that R,P,and Y angles of the quadruped robot walking under the attitude control strategy were significantly smaller than those under the open-loop control.Conclusion The results show that this attitude control strategy is feasible to be applied to the Trot gait,and the walking stability of the quadruped robot is greatly improved.

关 键 词：四足机器人 Trot步态 姿态控制 仿真分析 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]