基于SLIP模型的液压驱动单腿机器人竖直跳跃控制

Vertical hopping control of hydraulically actuated single-legged robot based on SLIP

针对液压驱动足式机器人竖直跳跃控制,提出一种基于SLIP竖直跳跃动力学模型实现液压驱动机器人竖直跳跃的控制策略。分析SLIP竖直跳跃动力学模型并求解其动力学微分方程得到质心运动轨迹,将关节型单腿机器人竖直跳跃髋部的运动轨迹映射到SLIP模型质心的运动轨迹,通过机器人运动学逆解得到机器人关节运动轨迹,以此驱动关节运动;同时建立关节型单腿机器人竖直跳跃动力学方程和液压驱动执行器动力学方程,应用MATLAB/Simulink软件进行动态跳跃控制仿真并进行样机试验。研究结果表明:基于SLIP竖直跳跃动力学模型的控制策略可实现液压驱动单腿机器人持续稳定的竖直跳跃,为足式机器人动态步态行走控制研究提供参考。

For the vertical dynamic hopping control of hydraulically actuated legged robot, a control strategy based on the vertical hopping dynamics of SLIP （spring loaded inverted pendulum） was presented. The vertical hopping dynamics of SLIP was analyzed and the motion trajectory of its CoM （center of mass） was obtained by solving the differential equation of its dynamics. The motion trajectory of articulated single-legged robot’s hip was mapped to that of SLIP’s CoM. Then the joint motion trajectory, which drove the robot’s joint motion, was obtained by inverse kinematics of robot. Furthermore, by establishing the vertical hopping dynamics of articulated single-legged robot and hydraulic actuator dynamics, the simulation of vertical hopping was done in the software of MATLAB/Simulink. And meanwhile the vertical hopping experiment was done on robot prototype. The results show that the hydraulically actuated single-legged robot is able to hop continuously and stably with a control strategy based on the vertical hopping dynamics of SLIP, which provides reference for the control of the dynamic gait walking of legged robot.