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基于全身力矩控制的双腿轮机器人跳跃方法研究

辛亚先 李贻斌 柴汇 荣学文 李彬

辛亚先, 李贻斌, 柴汇, 荣学文, 李彬. 基于全身力矩控制的双腿轮机器人跳跃方法研究. 自动化学报, 2020, 46(x): 1−10 doi: 10.16383/j.aas.c200486
引用本文: 辛亚先, 李贻斌, 柴汇, 荣学文, 李彬. 基于全身力矩控制的双腿轮机器人跳跃方法研究. 自动化学报, 2020, 46(x): 1−10 doi: 10.16383/j.aas.c200486
Xin Ya-Xian, Li Yi-Bin, Chai Hui, Rong Xue-Wen, Li Bin. Research on jumping method of two wheeled-leg robot based on whole-body torque control. Acta Automatica Sinica, 2020, 46(x): 1−10 doi: 10.16383/j.aas.c200486
Citation: Xin Ya-Xian, Li Yi-Bin, Chai Hui, Rong Xue-Wen, Li Bin. Research on jumping method of two wheeled-leg robot based on whole-body torque control. Acta Automatica Sinica, 2020, 46(x): 1−10 doi: 10.16383/j.aas.c200486

基于全身力矩控制的双腿轮机器人跳跃方法研究

doi: 10.16383/j.aas.c200486
基金项目: 国家自然科学基金(61973185, 61973135, 91948201, 62073191), 山东省自然科学基金(ZR2017MEE033), 山东省高等学校青创科技支持计划(2019KJN011)资助
详细信息
    作者简介:

    辛亚先:山东大学控制科学与工程学院博士生. 主要研究方向为多腿及多臂机器人全身控制. E-mail: xinyaxian1990@126.com

    李贻斌:山东大学控制科学与工程学院教授. 主要从事机器人学、机电一体化、智能控制、智能车辆等方面的研究工作. E-mail: liyb@sdu.edu.cn

    柴汇:山东大学控制科学与工程学院副教授. 主要研究方向为机器人学与智能控制. E-mail: ch2200@sina.com

    荣学文:山东大学控制科学与工程学院教授. 主要研究方向为仿生机器人机构设计与优化, 液压伺服传动技术. E-mail: rongxw@sdu.edu.cn

    李彬:齐鲁工业大学(山东省科学院)数学与统计学院副教授. 主要研究方向为神经网络算法与腿足式机器人步态规划. E-mail: ribbenlee@126.com

Research on Jumping Method of Two Wheeled-leg Robot Based on Whole-Body Torque Control

Funds: Supported by National Natural Science Foundation of P.R. China(61973185, 61973135, 91948201, 62073191), Shandong Province Natural Science Foundation(ZR2017MEE033), Development Plan of Youth Innovation Team in Colleges and Universities of Shandong Province(2019KJN011)
  • 摘要: 双腿轮机器人由于内在不稳定性以及强耦合非线性特性, 其运动控制尤其是高动态运动控制非常困难. 本文提出基于最优力分配的全身力矩控制框架, 可同时实现双腿轮机器人的自平衡与躯干位姿控制; 为提高双腿轮机器人在高速运动时跨越垂直障碍物的能力, 提出了应对垂直障碍的跳跃动作规划方法, 并基于全身力矩控制框架进行控制与实现; 通过分析简化的轮式倒立摆模型, 得到腾空时飞轮转动对俯仰姿态的动力学影响, 实现了腾空阶段俯仰姿态的调整. 设置了连续跳跃仿真实验与有无飞轮调整的俯仰姿态对比实验, 其仿真结果证明了所提方法的有效性与鲁棒性.
  • 图  1  双腿轮机器人简化模型图

    Fig.  1  The Simplified model of the Two Leg-wheel robot

    图  2  躯干与足端矢状面轨迹示意图

    Fig.  2  The trajectory schematic of the torso and feet in the sagittal plane

    图  3  总体控制框图

    Fig.  3  Overall Control frame

    图  4  不同离地高度下躯干与足端纵向位置曲线

    Fig.  4  Longitudinal position curves of the torso and feet at different ground clearance

    图  5  机器人跳跃过程仿真截图

    Fig.  5  The simulation snapshot of the jumping process

    图  6  躯干姿态曲线

    Fig.  6  Torso posture control

    图  7  水平速度跟随曲线

    Fig.  7  Horizontal speed control

    图  8  躯干虚拟广义力

    Fig.  8  Virtual generalized force of the torso

    图  9  躯干与足端纵向位置曲线

    Fig.  9  Longitudinal position curves of the torso and feet

    图  10  腿轮末端输出广义力曲线

    Fig.  10  Generalized force curves outputted by leg-wheel

    图  11  关节力矩曲线

    Fig.  11  Joint torque curves

    图  12  俯仰角对比曲线图

    Fig.  12  Comparison of pitch angle curves

    表  1  跳跃参数设置

    参数含义符号
    正常行走时躯干站立高度在${\Sigma _O}$中的表示H0
    腾空瞬间躯干站立高度在${\Sigma _O}$中的表示H1
    足端最大离地距离在${\Sigma _O}$中的表示Hpt
    足端最大收缩量在${\Sigma _B}$中的表示Hs
    下载: 导出CSV
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  • 收稿日期:  2020-10-19
  • 修回日期:  2020-10-22

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