摘要
液压足式机器人由于其负载能力强,动态性能优越得到广泛的关注.针对液压足式机器人能量调节及其单腿弹跳运动控制问题,将液压足式机器人单腿等效为弹簧负载倒立摆(SLIP)模型,并提出了一种主动变刚度的控制策略,可以使液压足式机器人单腿在着地时刻进行能量调整,并使其达到期望的弹跳高度.实验结果表明,本文提出的控制方法可以实现液压足式机器人单腿稳定弹跳,并有效控制弹跳高度.
The hydraulic legged robot has been widely concerned because of its strong load capacity and excellent dynamic performance.In this paper,the hydraulic robot leg was investigated based on the spring-loaded inverted pendulum(SLIP)model to solve the energy regulation and hopping control problem for hydraulic robot.And an active variable stiffness control strategy was proposed to adjust the energy of hydraulic robot leg in the stance phase and ensure its desired hopping height.The experimental results show that the control strategy proposed in this work can achieve a stable hopping for the hydraulic foot robot leg and control its hopping height effectively.
作者
赵江波
薛塔
王军政
ZHAO Jiang-bo;XUE Ta;WANG Jun-zheng(Key Laboratory of Intelligent Control and Decision of Complex Systems,School of Automation, Beijing Institute of Technology,Beijing 100081,China)
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2018年第10期1051-1055,共5页
Transactions of Beijing Institute of Technology
关键词
SLIP模型
变刚度
能量调节
弹跳控制
SLIP model
variable stiffness
energy regulation
hopping control
