四足机器人对角小跑动态控制

基于虚拟模型控制方法,根据四足机器人单腿雅克比矩阵得到支撑相与摆动相的控制法则。为实现机器人躯体的完全控制,提出了一种控制目标分解的方法,将四足机器人躯体的控制目标分解到每条支撑腿的控制上。通过构建每条支撑腿的虚拟构件,并将虚拟构件产生的虚拟力转换为期望关节力矩,从而实现支撑腿的虚拟模型控制;实时规划摆动足的运动轨迹,利用虚拟构件连接摆动腿的足端与期望的摆动轨迹,实现摆动腿的虚拟模型控制。在设定四条腿的相位轮换规律的基础上,对一个四足机器人二维平面模型进行对角小跑步态下的速度控制及抗干扰仿真试验。仿真结果证明该控制方法能够有效控制机器人躯体的高度、速度及倾角,实现四足机器人对角小跑运动的动态控制并具有一定的抗冲击干扰能力。

Dynamic control for quadrupedal trotting locomotion

Based on Virtual Model Control method, the control laws of the single leg for stance phase and swing phase were obtained from the single leg Jacobian of the quadruped robot. In order to realize the full body control, a decomposed method was proposed, which decomposes the body control objectives of the quadruped robot into each standing leg control. The virtual components of each standing leg were set up, and the virtual forces were transformed into desired joint torques to achieve the virtual model control for standing leg. The swing foot trajectories were planned in real time and the virtual components were used to connect the swing foot and the planned trajectories, so that the virtual model control for swing leg was realized. Based on the switching rule of the leg phase sequence, simulations about velocity control and disturbance rejection were studied with a planar quadruped model using trotting gait. The simulation results verified that the proposed control method is effective in height, speed and pitch angle control of the body, can achieve dynamic control of the quadrupedal trotting locomotion, and is robust for disturbance rejection.