基于惯性测量和LSTM算法的四足机器人上坡足端姿态控制  

Attitude control of quadruped robot uphill foot end based on inertial measurement and LSTM algorithm

作　　者：姚学恒 邢海青 杨子赫 吴海腾 邹治银 郭玉光 YAO Xueheng;XING Haiqing;YANG Zihe;WU Haiteng;ZOU Zhiyin;GUO Yuguang(State Grid Zhejiang Electric Power Company Hangzhou Yuhang Power Supply Company;Hangzhou Shenao Technology Co.,Ltd.;Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot,Zhejiang Hangzhou 310000,China)

机构地区：[1]国网浙江省电力有限公司杭州市余杭区供电公司 [2]杭州申昊科技股份有限公司 [3]浙江省智能运维机器人重点实验室,浙江杭州310000

出　　处：《工业仪表与自动化装置》2025年第2期76-81,共6页Industrial Instrumentation & Automation

摘　　要：为避免四足机器人在上坡过程中产生倾覆或滑倒,研究基于惯性测量和LSTM算法的四足机器人上坡足端姿态控制方法。利用配置加速度计和陀螺仪的惯性测量单元采集四足机器人足端上坡运动时的加速度和角速度数据,经四元数法以及积分运算获取机器人上坡足端姿态数据,将其作为LSTM(长短期记忆网络)模型的输入,预测机器人期望运动速度与位置;将其与惯行测量单元获取的实时足端位置与速度共同输入模型预测控制(MPC)器中,通过计算四足机器人摆动腿的关节力矩,结合其运动学模型,不断获取机器人坐标系下摆动腿足端的位置,完成四足机器人在上坡过程中的足端姿态控制。实验结果显示:该方法应用下,可以保障四足机器人顺利通过坡底到坡面、坡面到坡顶的过渡阶段,不产生打滑现象,保障上坡过程稳定。To avoid tipping or slipping of quadruped robots during uphill climbing,a foot end attitude control method for quadruped robots based on inertial measurement and LSTM algorithm is studied.Using an inertial measurement unit equipped with accelerometers and gyroscopes to collect acceleration and angular velocity data of a quadruped robot during uphill motion,the robot's uphill foot posture data is obtained through quaternion method and integration operation,and used as input for the LSTM(Long Short Term Memory Network)model to predict the expected motion speed and position of the robot.It is input into the Model Predictive Control(MPC)system along with the real-time foot position and velocity obtained from the inertial measurement unit.By calculating the joint torque of the swinging leg of the quadruped robot and combining it with its kinematic model,the position of the swinging leg foot in the robot coordinate system is continuously obtained to complete the foot posture control of the quadruped robot during uphill climbing.The experimental results show that under the application of this method,the quadruped robot can smoothly pass through the transition stages from the bottom of the slope to the slope surface and from the slope surface to the top of the slope without slipping,ensuring the stability of the uphill process.

关 键 词：惯性测量 LSTM算法 四足机器人 足端姿态 模型预测控制 坐标系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]