四足机器人CPG步态规划与坡面运动控制研究

Research on CPG gait planning and slope motion control of quadruped robot

针对四足机器人进行坡面运动时,机体重心不稳定、足端易打滑等问题进行研究。本文提出了一种适用于全肘式四足机器人坡面运动的前庭反射数学模型。首先,在Simulink中以Hopf振荡器搭建了中枢模式发生器(CPG)控制网络,并将四足机器人模型导入Simulink中,通过调整CPG网络相位关系生成了trot步态,并以该步态进行上坡仿真实验。为实现坡面运动自适应性、稳定性,将前庭生物反射数学模型引入控制网络,使机器人在坡面运动时,根据坡度信息,能够调整机体姿态,使重心保持稳定。仿真结果显示,坡面运动时前庭反射有效地减少了机器人躯体的震动与打滑程度,最终证明了将前庭生物反射数学模型与CPG进行有机融合能有效地提高四足机器人坡面运动时的稳定性。

When a quadruped robot moves on a slope, the center of gravity of the robot is unstable and the foot end is easy to slip. In this paper, a mathematical model of vestibular reflex for all-elbow quadruped robot is proposed. The Central Pattern Generator(CPG) control network is built in Simulink, and the quadruped robot model is imported into Simulink. Based on the rhythm signal generated by CPG, the trot gait is generated, and the uphill and downhill simulation experiments are carried out with this gait. In order to realize the adaptability and stability of the slope movement, the vestibular bioreflex mathematical model is introduced into the control network, so that the robot can adjust the body posture according to the slope information when the robot moves on the slope, so as to keep the center of gravity stable. The simulation results show that the vestibular reflex can effectively reduce the vibration and slippage of the robot body during the slope movement. The experimental result proves that the organic fusion of the vestibular bioreflex mathematical model and CPG can effectively improve the quadruped robot’s stability of slope movement.