仿生柔性运动控制系统设计  

Design of Bionic Flexible Motion Control System

作　　者：刘志伟[1] 舒雨锋 李清顺 赵辉 李展斌 Liu Zhiwei;Shu Yufeng;Li Qingshun;Zhao Hui;Li Zhanbin(Department of Mechanical and Electrical Engineering,Dongguan Polytechnic,Dongguan Guangdong 523808,China;Guangdong Textile Industry Intelligent Detection Engineering Technology Research Center(DGPT),Dongguan Guangdong 523808,China;Dongguan Zhongke Blue Ocean Intelligent Visual Technology Co.,Ltd.,Dongguan Guangdong 523808,China;Guangdong OPT Technology Co.,Ltd.,Dongguan Guangdong 523860,China)

机构地区：[1]东莞职业技术学院,广东东莞523808 [2]广东省纺织行业智能检测(东职)工程技术研究中心,广东东莞523808 [3]东莞中科蓝海智能视觉科技有限公司,广东东莞523808 [4]广东奥普特科技股份有限公司,广东东莞523860

出　　处：《机械管理开发》2025年第3期192-194,197,共4页Mechanical Management and Development

基　　金：2022年东莞市社会发展科技面上项目“人口老龄化背景下服务机器人仿生柔性运动系统的研究”(20221800900502);2022年广东省普通高校创新团队项目(2022KCXTD063);东莞市高水平校企合作基地建设项目(智能视觉技术实践基地)。

摘　　要：受6足生物的启发,根据仿生机器人的原理,设计了双连杆刚柔腿组合模型的6足机器人,利用三角形稳定性原理,设计4步的步态控制,完成各腿脉冲控制时序设计。综合考虑稳定性和能耗问题,分析与地面的作用力关系,创新设计了一种“检测作用力-调整导通时间-控制速度”输入整形的闭环控制方法,控制腿部力矩调节刚柔腿的角度,实现作用力和电动控制的协调组合,实现机器人刚柔腿组合下肢协调控制。实验测试结果证明,增加整形输入后直线移动速度、斜坡移动速度(15°)、能耗等方面均有很好改进,6足机器人的运动步态非常平稳和协调。Inspired by hexapod organisms and based on the principles of biomimetic robots,a hexapod robot with a dual link rigid flexible leg combination model was designed.Using the triangle stability principle,a gait control consisting of four processes was designed to complete the pulse control timing design of each leg.Taking into account stability and energy consumption issues,an innovative closed-loop control method for input shaping was designed by analyzing the relationship between ground forces and detecting forces,adjusting conduction time,and controlling speed.The method controls the leg torque to adjust the angle of the rigid and flexible legs,achieving a coordinated combination of forces and electric control,and realizing coordinated control of the robot's rigid and flexible leg combination lower limbs.The experimental test results have shown that increasing the shaping input can significantly improve the linear movement speed,slope movement speed(15°),energy consumption,and other aspects.The gait of the 6-pod robot is very smooth and coordinated.

关 键 词：仿生机器人 刚柔腿 输入整形 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]