基于动量控制的猎豹机器人疾驰步态分析

Analysis of the Galloping of A Cheetah Robot by Controlling the Momentums

从运动节律和足部地面接触的逻辑关系出发,解析了猎豹机器人疾驰步态周期相序,分析了疾驰步态运动构件的运动节律。依此建立了以仿生猎豹前后质心的高度波动为特征的控制方法,其核心在于控制驱动相期间的动量特性。基于足部轨迹的多目标控制策略,建立了疾驰步态在驱动相的足部轨迹、前后质心速度和角速度的动力学控制模型。最后综合运动节律控制策略、腿部足部轨迹控制策略和躯干控制策略等,在Simulink/RecurDyn联合仿真实验中实现了猎豹机器人疾驰步态的完整周期过程。

The phase sequence of cheetah＇s galloping is analyzed from the logic relationships between the rhythms and foot-ground contact events,and the rhythms of the parts of the robot are analyzed. A control method based on the fluctuations of the heights of the front mass and back mass centers is built based on the rhythms by controlling the momentum during the driving phases. Thus,a dynamic control model to attain the satisfying gait trajectory and the linear and angular velocities of the front and back mass centers during the driving phases is built based on the multiobjective gait trajectory control strategy. Finally,the rhythm control strategy,the leg control strategy and the torso control strategy are combined in the Simulink/Recur Dyn co-simulation environment,and the galloping period is achieved.