四足机器人Trot步态的偏航运动控制

Yaw Motion Control of a Quadruped Trot

为解决四足机器人Trot步态的偏航运动控制问题,借鉴两轮差速驱动的原理将机身的运动分解为两着地腿的运动,再基于弹簧倒立摆模型对单个着地腿的前进速度和侧移速度进行控制,最后通过控制两着地腿的运动来控制机器人整体的运动,从而实现对机器人偏航角的控制。基于这种思想,可以对偏航角、前进速度和侧移速度的控制进行统一设计,简化了基于三维模型的四足机器人运动控制的难度。在虚拟样机中进行仿真实验,发现控制方法在前进速度为零和非零时都能对偏航角进行很好的控制。

Inspired by the theory of two - wheel differential driving, we can control the yaw motion of a quadruped trot by decomposing the motion of the robot＇s body into the motion of the two legs which are touching the ground. Based on the SLIP model, the forward and lateral velocity of one touching leg can be controlled. Then the robot＇s motion, including the yaw angle, can be controlled by controlling its legs. Based on this idea, the yaw angle, forward and lateral velocity can be controlled together, which simplifies the complexity of three- dimensional motion. After the simulation in a virtu- al prototype, the control method is proved well when the forward velocity is zero or not.