仿生六足爬行机器人运动控制技术研究

Research on Hexapod Walking Bio-robot Locomotion Control Technology

在对生物神经系统结构与功能进行分析和借鉴的基础上,采用模块化分散递阶控制技术对仿生六足爬行机器人进行实时控制,解决了仿生六足机器人实时精确运动控制的问题,并在机器人关节控制模块中运用了模糊小波神经网络控制,实现了机器人肢体运动的快速精确跟踪;通过Matlab进行的轨迹跟踪仿真试验证实:机器人步行足的运动轨迹与期望曲线基本吻合,具有较好的跟踪特性,且误差曲线快速收敛,静态误差趋近于零;由此表明,该机器人控制系统可靠性高,实时性强,具有较好的动、静态特性,以及良好的抗干扰能力和自适应能力,克服了传统控制方法存在的控制模型难以建立、对环境适应能力差等缺点,为仿生六足爬行机器人的进一步研究奠定了坚实的基础。

Based on analyzing the biological structure and function of biology nervous system, the paper presents a modularized distributed hierarchical control technology to real-time control the hexapod walking bio-robot, using the wavelet-based neuro-fuzzy networks method at the simulation of the locomotion control. The Matlab simulation results show that robot locomotion follow track is almost identical with the desired curve. The error curve is quickly rapid convergent, and the static error is almost approximate to zero. So it gets over the difficulty of traditional control theory that is difficult to set up the controlled object model and worse adaptive capaeity, and the robot control system has the advantages of high static and dynamic performance, strong anti-disturb ability and robustness, The research has established foundation to further perfect the robot locomotion function.