Research on Jumping Method of Two Wheeled-leg Robot Based on Whole-body Torque Control
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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. 为此, 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, 实现腾空阶段俯仰姿态的调整. 设置连续跳跃仿真实验与有无飞轮调整的俯仰姿态对比实验, 其仿真结果证明所提方法的有效性与鲁棒性.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 force 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 fly wheel 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 demonstrate the effectiveness and robustness of the proposed method.
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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
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
表 1 跳跃参数设置
Table 1 Parameters of the jump motion
参数 参数含义 H0 正常行走时躯干站立高度在${\Sigma _O}$中的表示 H1 腾空瞬间躯干站立高度在${\Sigma _O}$中的表示 Hpt 足端最大离地距离在${\Sigma _O}$中的表示 Hs 足端最大收缩量在${\Sigma _B}$中的表示 
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