液压四足机器人的仿生运动控制研究

Bionic Motion Control Research of Hydraulic Quadruped Robot

动物的节律运动具有规则的运动形式和良好的稳定性、适应性,因此这种运动方式适合用于腿式机器人的运动控制。针对四足机器人难以协调控制的问题,通过对高等动物神经学理论和节律运动的研究、改进与仿真,设计了一种基于中枢模式发生器(CPG)的运动控制方法,并借助Matsuoka振荡神经元模型建立了完整的四足机器人仿生运动控制网络模型。以自激行为产生不同相位的节律运动信号并控制执行器进行相应的动作,实现了一系列典型的四足机器人运动步态和足端轨迹的生成与转化,有效地解决了机器人四足协调运动控制的难题,提高了机器人在复杂环境中的运动和适应能力。

The animal’s rhythmic movement has many advantages,such as regular expression form,high stability and adaptability,so it is well suited to control the motion of legged robots.In view of the problem of coordinated control,a kind of motion control method was designed based on the central pattern generator（CPG） by studying,improving and simulating for the neurological theory and rhythmic motion of higher mammal,and the Matsuoka oscillation neuron model was used to build the complete CPG control network of quadruped robot.Producing the different phase rhythmic motion signals by self-excited behavior and controlling the actuators to perform corresponding actions,the generation and transformation of a series of typical motion gaits and foot trajectories were realized.This method has solved the problem of coordinated motion control effectively,and has improved the motion ability and adaptability in the complex environment.