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

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

辛亚先^{1, 2,},
李贻斌^{1, 2,},
柴汇^{1, 2,},
荣学文^{1, 2,},
李彬^3,

1.
山东大学控制科学与工程学院济南 250061
2.
山东大学机器人研究中心济南 250061
3.
齐鲁工业大学(山东省科学院)数学与统计学院济南 250353

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

计量
- 文章访问数: 42
- HTML全文浏览量: 27
- 被引次数: 0
出版历程
- 收稿日期: 2020-10-19
- 修回日期: 2020-10-22

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

Xin Yaxian^{1, 2
,},
Li Yibin^{1, 2
,},
Chai Hui^{1, 2
,},
Rong Xuewen^{1, 2
,},
Li Bin^3
,

1.
School of Control Science and Engineering, Shandong University, Jinan 250061
2.
Center for Robotics, Shandong University, Jinan 250061
3.
School of Mathematics and Statistics, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353

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

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.
- 双腿轮机器人 /
- 自平衡 /
- 最优力分配 /
- 动态控制 /
- 全身力矩控制
Abstract: The motion control, especially high dynamic motion control of a two wheeled-leg robot is difficult because of its inherent instability and strong coupling nonlinear characteristics. In this paper, a whole-body torque control framework based on optimal wrench distribution is proposed, which can realize the self-balancing and torso posture control of the two wheeled-leg robot simultaneously. A jumping movement planning method is proposed to improve the ability of the two wheeled-leg robot to step over vertical obstacles during high-speed movement based on the whole body torque control method. By analyzing the simplified wheeled inverted pendulum model, the dynamic effect of the flywheel rotation on the pitch attitude during flight is obtained, and the pitch attitude adjustment during the flight phase is realized. A continuous jump simulation experiment and a comparison experiment of pitch attitude with or without fly wheel adjustment are set up. The simulation results prove the effectiveness and robustness of the proposed method.
- Two wheeled-leg robot /
- Self-balancing /
- Optimal force distribution /
- Dynamic control /
- Whole-body torque control

HTML全文

图 1 双腿轮机器人简化模型图

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

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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

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图 3 总体控制框图

Fig. 3 Overall Control frame

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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

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图 5 机器人跳跃过程仿真截图

Fig. 5 The simulation snapshot of the jumping process

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图 6 躯干姿态曲线

Fig. 6 Torso posture control

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图 7 水平速度跟随曲线

Fig. 7 Horizontal speed control

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图 8 躯干虚拟广义力

Fig. 8 Virtual generalized force of the torso

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图 9 躯干与足端纵向位置曲线

Fig. 9 Longitudinal position curves of the torso and feet

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图 10 腿轮末端输出广义力曲线

Fig. 10 Generalized force curves outputted by leg-wheel

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图 11 关节力矩曲线

Fig. 11 Joint torque curves

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图 12 俯仰角对比曲线图

Fig. 12 Comparison of pitch angle curves

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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	H_pt
足端最大收缩量在${\Sigma _B}$中的表示	H_s

下载: 导出CSV

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