四足机器人单步急停稳定控制策略

Single-step emergency stop stability control strategy for quadruped robot

针对四足机器人急停控制问题,提出了基于接触力优化的单步急停稳定控制策略。建立了支撑腿接触力与作用在躯干质心上的虚拟力的映射关系。基于零力矩点(ZMP)稳定判据和接触力内接棱锥模型,建立具有不等式约束的线性规划(LP)问题。采用内点法求解该LP问题,求出最优的足端接触力,在作用在机器人质心的虚拟力最大的同时保证机器人ZMP在急停过程中落在支撑平面内且不产生滑动。仿真结果表明该文控制策略的有效性。

To solve the emergency stop control problem of quadruped robots,a single-step emergency stop stability control strategy based on contact force optimization is proposed.The mapping relationship between the contact force of supporting legs and the virtual force acting on the centroid of the trunk is established.Based on the zero-moment point(ZMP)stability criterion and the contact force internal pyramid model,a linear programming(LP)problem with inequality constraints is established.The internal-point algorithm is used to solve the problem,and the optimal contact force at the foot end is obtained.The objective of optimization is to maximize the virtual force acting on the centroid of the robot while ensuring that the ZMP of the robot falls in the support polygon without sliding during the emergency stop.The simulation results show that the control strategy designed here is effective.