四足机器人不规则地形稳定方法研究

Study on Stabilization Method of Quadruped Robot on Irregular Terrain

当四足机器人行走在不规则的地形中时,会受到意料之外的干扰导致机器人失去平衡。为解决该问题,设计一个应用于18个自由度的四足机器人平衡控制器,在机器人受到外界干扰时能够恢复其平衡;该平衡控制器通过PD控制器计算机器人恢复平衡所需加速度,并据此提出一种四足机器人平衡算法;该算法建立独立关节空间,采用贝塞尔曲线法对机器人足端进行规划。实验结果表明,该算法能够在机器人受到外界干扰时及时调整机器人的主体位置方向来维持平衡。

When the quadruped robot walks on the irregular terrain,it will be disturbed unexpectedly,which will cause the robot to lose its balance.To solve this problem,a four-legged robot balance controller with 18 degrees of freedom was designed,which could restore the balance of the robot when it was disturbed by the outside world.Based on the PD controller,the balancing controller calculates the required acceleration of the robot to recover the balance,and a balancing algorithm of the quadruped robot is proposed.The algorithm establishes an independent joint space and uses the Bezier curve method to plan the robot foot.The experimental results show that the algorithm can adjust the orientation of the main body of the robot to maintain the balance when the robot is disturbed by the external environment.