本文選題：單腿機(jī)器人 + 膝踝協(xié)調(diào)運(yùn)動��； 參考：《浙江大學(xué)》2017年碩士論文

【摘要】：腿足機(jī)器人具有良好的運(yùn)動性能和地形適應(yīng)能力,一直是機(jī)器人領(lǐng)域研究的熱點。單腿機(jī)器人是腿足機(jī)器人的一個重要分支,研究其跳躍機(jī)理可以為仿人機(jī)器人和多足機(jī)器人的快速跑跳運(yùn)動提供理論依據(jù)。目前國內(nèi)外單腿機(jī)器人仍以兩自由度關(guān)節(jié)為主,機(jī)器人的運(yùn)動性能和能量效率受到限制。本文基于仿生思想,在單腿機(jī)器人中加入腳踝關(guān)節(jié),采用SEA(Series Elastic Actuator)作為關(guān)節(jié)執(zhí)行器。這樣不僅可以提高機(jī)器人跳躍運(yùn)動的能力,還可以減緩機(jī)器人落地時的沖擊力并存儲跳躍過程中的能量,提高機(jī)器人跳躍運(yùn)動的穩(wěn)定性和能量效率。但是,隨著機(jī)器人關(guān)節(jié)數(shù)量的增加,機(jī)器人的運(yùn)動規(guī)劃和控制難度也將增加。本文面向基于SEA關(guān)節(jié)的三段式單腿機(jī)器人,以提高機(jī)器人的跳躍性能和能量效率為目標(biāo)開展研究,研究內(nèi)容分為以下方面:1.運(yùn)動規(guī)劃與控制算法。本文針對機(jī)器人的多關(guān)節(jié)冗余問題,在飛行相中,設(shè)計逆運(yùn)動學(xué)優(yōu)化算法;在站立相中,結(jié)合人體的運(yùn)動學(xué)和動力學(xué)規(guī)律,以能耗最小為目標(biāo),定義膝踝協(xié)調(diào)的評價指標(biāo),設(shè)計運(yùn)動學(xué)規(guī)劃算法,并設(shè)計彈簧控制率從而控制機(jī)器人站立相的膝踝關(guān)節(jié)運(yùn)動。2.控制參數(shù)優(yōu)化算法。本文針對彈簧控制率中膝踝關(guān)節(jié)的彈簧剛度選取問題,以膝踝協(xié)調(diào)評價指標(biāo)最高為優(yōu)化目標(biāo),采用PSO算法優(yōu)化膝踝關(guān)節(jié)的彈簧剛度;提出變剛度的能量補(bǔ)償算法,補(bǔ)償機(jī)器人落地沖擊時的能量損耗。3.機(jī)器人跳躍運(yùn)動控制實驗。本文分別在機(jī)器人仿真平臺和實物機(jī)器人上開展了實驗。在仿真平臺中,通過PSO算法的剛度優(yōu)化結(jié)果和變剛度能量補(bǔ)償算法,對機(jī)器人前向跳躍運(yùn)動進(jìn)行了研究。在被動腳踝機(jī)器人中,本文根據(jù)PSO算法與優(yōu)化結(jié)果,選取了機(jī)器人的踝關(guān)節(jié)彈簧。并采用變剛度的能量補(bǔ)償算法,對機(jī)器人的連續(xù)跳躍運(yùn)動進(jìn)行了控制,實現(xiàn)的最大跳躍高度為35cm,最高單位距離能耗為0.29。在主動腳踝機(jī)器人中,優(yōu)化了踝關(guān)節(jié)的彈簧剛度,對單向SEA驅(qū)動的腳踝關(guān)節(jié)進(jìn)行了位置和力矩控制,開展了連續(xù)跳躍實驗。仿真和實驗結(jié)果均驗證了本文所提規(guī)劃和控制方法的有效性。
[Abstract]:Legged robot with good performance of motion and terrain adaptation has been a hot spot in the field of robot research. One-legged robot is an important branch of leg-legged robot. The study of its jumping mechanism can provide a theoretical basis for the rapid movement of humanoid robot and multi-legged robot. At present, the single leg robot is still mainly two degree of freedom joints at home and abroad, and its motion performance and energy efficiency are limited. Based on the bionic theory, the ankle joint is added to the single legged robot, and SEA(Series Elastic Actuator is used as the joint actuator. This can not only improve the jumping ability of the robot, but also slow down the impact force and store the energy in the jumping process, so as to improve the stability and energy efficiency of the robot jumping motion. However, with the increase of the number of robot joints, robot motion planning and control will be more difficult. This paper aims at improving the hopping performance and energy efficiency of the three-segment single-legged robot based on SEA joint. The research contents are as follows: 1. Motion planning and control algorithm. In this paper, the inverse kinematics optimization algorithm is designed in flight phase to solve the problem of multi-joint redundancy of the robot. In standing phase, with the aim of minimum energy consumption, the evaluation index of knee and ankle coordination is defined in the standing phase, combined with the kinematics and dynamics of human body. The kinematics planning algorithm is designed and the spring control rate is designed to control the motion of the knee and ankle joint of the robot standing phase. Control parameter optimization algorithm. In this paper, aiming at the problem of spring stiffness selection of knee ankle joint in spring control rate, PSO algorithm is adopted to optimize spring stiffness of knee ankle joint with the highest evaluation index of knee and ankle coordination, and an energy compensation algorithm with variable stiffness is proposed. Compensates the robot ground impact energy loss. 3. Robot jumping motion control experiment. Experiments are carried out on the robot simulation platform and the real robot. Based on the PSO algorithm and the variable stiffness energy compensation algorithm, the forward jump motion of the robot is studied in the simulation platform. In the passive ankle robot, according to the PSO algorithm and the optimization results, the ankle spring of the robot is selected. The continuous jump motion of the robot is controlled by the variable stiffness energy compensation algorithm. The maximum jump height is 35 cm and the maximum energy consumption per unit distance is 0.29. In the active ankle robot, the spring stiffness of the ankle joint is optimized, the position and torque control of the ankle joint driven by unidirectional SEA is carried out, and the continuous jumping experiment is carried out. Simulation and experimental results verify the effectiveness of the proposed planning and control methods.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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本文編號：1778385