本文選題：四足機器人 + 對角小跑　； 參考：《國防科技大學學報》2017年01期

【摘要】：為了對對角小跑中四足機器人本體的水平位置進行控制,建立基于沿支撐線方向運動分解的機器人近似動力學模型,將本體和對角支撐腿簡化為一個七連桿結構和一個線性倒立擺,并且基于線性倒立擺解析模型提出擺動腿落足點位置計算方法,進而實現(xiàn)對本體水平位置的控制。針對液壓作動器伸縮速度受限的問題,利用單腿冗余關節(jié)將關節(jié)角速度優(yōu)化問題轉(zhuǎn)化為標準二次型規(guī)劃問題,通過設計二次型規(guī)劃問題解法,降低對擺動腿關節(jié)角速度的需求,并且避免了傳統(tǒng)偽逆方法可能產(chǎn)生的腿部奇異位型。仿真和實驗結果表明:該方法能夠?qū)崿F(xiàn)在關節(jié)角速度受限的情況下,有效跟蹤本體水平位置的期望軌跡。
[Abstract]:In order to control the horizontal position of the quadruped robot in diagonal trot, an approximate dynamic model of the robot based on the motion decomposition along the support line is established. The body and diagonal supporting leg are simplified into a seven-bar structure and a linear inverted pendulum. Based on the analytical model of the pendulum, a method for calculating the foot position of the swing leg is proposed, which can control the horizontal position of the body. Aiming at the problem of limited expansion speed of hydraulic actuator, the problem of joint angular velocity optimization is transformed into a standard quadratic programming problem by using single leg redundant joint, and the need for angular velocity of swing leg joint is reduced by designing a quadratic programming method. And it avoids the leg singularity which may be produced by the traditional pseudo-inverse method. Simulation and experimental results show that the proposed method can effectively track the desired trajectory of the horizontal position of the body when the angular velocity of the joint is limited.
【作者單位】： 國防科技大學機電工程與自動化學院;
【基金】：國家自然科學基金資助項目(61473304) 國家863計劃資助項目(2015AA042202)
【分類號】：TP242
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本文編號：2071145