摘要
四足机器人的运动具有较强的耦合性,任何一个关节出现故障都可能使机器人运动紊乱,从而导致严重的后果。为解决此问题,提出一种适用于关节锁定故障的容错性步态规划方法。通过四足机器人的浮动机体运动学模型,在锁定关节处建立冗余度方程;利用增广雅可比矩阵完成含有优化函数的冗余度方程求解,从而实现容错性步态规划。通过仿真分析和样机试验对所提方法的可行性和有效性进行了验证。结果表明,与现有方法相比,容错性步态规划方法能够有效地提高容错性步态的效率。
The coupling characteristics of locomotion of the quadruped robot are so complex that the fault of joints may lead the robot out of control.A fault-tolerant gait planning algorithm is proposed to apply for the quadruped robot with the locked joint in order to solve the problem.Firstly,the kinematics model of quadruped robot was built based on kinematics with floating base to form the redundancy equation in the locked joint.And then the Extend Jacobian Matrix(EJM)was used to solve the redundancy equation which satisfied with some optimization function,and fault-tolerant gait planning was achieved.Finally,the result of simulation and prototype experiment verified the practicability and effectiveness of the proposed algorithm.The result shows that the proposed algorithm is more efficient compared with the existing algorithms.
作者
常青
罗庆生
CHANG Qing;LUO Qingsheng(School of Mechanical Engineering,Tianjin University of Commerce,Tianjin 300134,China;School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China)
出处
《机床与液压》
北大核心
2019年第23期41-46,共6页
Machine Tool & Hydraulics
基金
国家部委预研基金资助项目(40401060305)
关键词
四足机器人
容错性步态
浮动机体运动学
扩展雅可比矩阵
Quadruped robot
Fault-tolerant gait
Kinematics with floating base
Extend Jacobian Matrix
