摘要
基于负载弹簧倒立摆模型(SLIP模型),建立了四足机器人Trot(对角小跑)步态平面模型。针对复杂的四足机器人系统,通过对四足机器人动力学模型、动力学特性的分析,基于控制目标分解思想及PID控制策略,对系统的前进速度、弹跳高度及俯仰角,分别设计了有效的控制方法,即三分控制法。此外,对三分控制法的控制参数配置规律进行了充分的研究,给出了控制参数配置策略。
Based on the SLIP model, the planar model of quadruped robot is built. Aiming at controlling the complex system, by analyzing the model and dynamic characteristics of quadruped robot, based on the thought of decomposing control targets and PID control strategy, control algorithm of three targets of the system （velocity, height, pitch） is designed separately, so this method is named three - part - controlmethod. Besides, the strategy of control parameter configuration is given together.
出处
《机械与电子》
2012年第10期3-7,共5页
Machinery & Electronics
基金
国家"八六三"计划资助项目(2011AA040701)
