复合运动四足机器人行为模式控制体系设计

Behavior Control Architecture of a Hybrid Quadruped Robot

采用两级式硬件体系来实现复合运动四足机器人的控制,即微控制器层和PC层。其中自主开发的微控制器负责腿和躯干的低端控制;各微控制节点通过CAN总线与主控PC通信,主控PC负责上层协调与决策。基于此硬件体系,规划了腿层和躯体层两级式行为模式体系,分为三种具体的行为类型:迈步行为、姿态行为和导航行为。阐述了各行为之间的关系和参数。实验结果表明行为控制体系很好地协调了机器人的各行为反应。

Hierarchical hardware architecture was implemented with two levels communicated through CAN-BUS, the microprocessor level and the PC level. The microprocessor level is responsible for the low-level control of the legs and receives the sensor data too. The PC level controls the complete movement of the HIT-HYBTOR like trajectory planning and leg coordination. Based on this hardware architecture, leg level and body level behavior architecture was designed, The behavioral architecture also could be divided into three classes, step behaviors, posture behaviors and navigation behaviors. The relationship and parameters was proposed. Experiment testified the capability of this architecture.