摘要
六足机器人的多关节、高耦合、非线性的机械结构使其运动控制成为机器人研究领域一大难题。针对上述问题,在Matsuoka振荡器的基础上,创新性提出带力反馈神经元的三神经元相互反馈的中枢模式发生器(CPG)模型作为六足机器人的运动控制器。在对六足机器人进行运动学建模、运动学分析等数学分析的基础上,对三神经元CPG模型建模分析;并得到振荡周期波形满足六足机器人节律运动的要求。对力反馈模型进行实物设计;并建立对应反馈模型。根据反馈信息对六足机器人运动节律、关节信息等实时调节。最后通过仿真及实物实验证明,该CPG模型能够满足维持六足机器人稳定运动的要求,在复杂、未知环境中,也能够保持机器人的稳定性与适应性,实现复杂环境下的自适应运动。
In recent years the motion control of the hexapod has been attracted with wide attention as a result of multi-joint high-coupling and non-linear mechanical structure. The three-neuron CPG controller with force feedback is proposed,which is based on Matsuoka oscillator. The three-neuron CPG model is built and mathematically analysed after the kinematics analysis of the hexapod robot. The waveform of the CPG oscillator is in aperiodic oscillation,which is satisfied the motor rhythm request of the robot. The feedback model and material object of the force sensing module are accomplished. The motor rhythm and joint angle would be adjusted according to the force feedback information. The hexapod robot system is established and an experiment platform for the hexapod robot is built. The gait planning and obstacle avoidance experiment is carried out to verify the rationality of the structure and the accuracy of the theoretical analysis.
作者
刘蕴红
杨德晓
LIU Yun-hong;YANG De-xiao(Faculty of Electronic Information and Electrical Engineering,Dalian University of Technology,Dalian 116024,China)
出处
《科学技术与工程》
北大核心
2018年第17期67-74,共8页
Science Technology and Engineering
