四足机器人跳跃步态主动柔顺控制研究

Research on Active Compliance Control of Quadruped Robot's Jumping Gait

为减弱四足机器人跳跃步态起跳与落地时所受到的地面冲击力影响,研究四足机器人跳跃步态主动柔顺控制方法。采用三次多项式拟合五连杆同轴四足机器人跳跃步态机体质心轨迹曲线,通过不同轨迹曲线函数描述跳跃过程中起跳、腾空、缓冲、恢复4个阶段;引入PD控制器修正机体质心落地相轨迹曲线,优化四足机器人落地时收腿缓冲、恢复站立等位移响应曲线;利用Webots仿真平台与试验样机开展大量重复跳跃试验。结果表明:所设计的方法对四足机器人的平稳跳跃有较好的改善效果,能有效提高机器人的运动稳定性。

In order to reduce the impact of the ground force on the quadruped robot s jumping gait during takeoff and landing,the active compliance control method of quadruped robot s jumping gait was studied.The trajectory curve of the body s mass center of a five link coaxial quadruped robot s jumping gait was fitted by using cubic polynomial,the four stages of taking off,jumping,buffering and recovering were described by using different trajectory curve functions;PD controller was introduced to modify the trajectory curve of the body s center of mass landing phase and optimize the displacement response curve of the quadruped robot when landing,such as leg retraction buffer and recovery standing;a large number of repeated jumping experiments were carried out on the Webots simulation platform and the experimental prototype.The results show that by using the designed method,the smooth jumping of the quadruped robot can be better improved,and the motion stability of the robot can be effectively improved.