基于模型预测控制的四足机器人面向复杂地形自适应调整算法与实现

Adaptive Adjustment Algorithm and Implementation of Quadruped Robot for Complex Terrain Based on Model Predictive Control

为解决四足机器人在海上FPSO巡检过程中因海浪波动等外界因素导致机身存在不平稳的问题,实现四足机器人在有环境干扰情况下的自适应稳定行走,在利用IMU数据的基础上,设计了以模型预测控制为基础的位姿闭环控制策略。通过运动学建模及引入姿态矩阵建立机器人整体坐标系,实现机器人的位姿控制与坐标映射;由惯性测量单元(IMU)测得机器人运动时的姿态参数,通过设计的基于模型预测控制的躯干姿态闭环控制调整算法,实现了机器人在环境干扰过程中躯干姿态的自适应调整。在仿真环境、实验室环境及现场环境下,验证了所提算法的可行性和有效性。实验结果表明,所提的闭环控制策略提高了机器人在波动环境下的稳定性,实现了四足机器人的自适应姿态调整。

In order to solve the problem of instability of the fuselage of the quadruped robot due to external factors such as wave fluctuations during the inspection of the FPSO at sea,and to realize the adaptive and stable walking of the quadruped robot in the presence of environmental interference,based on the use of IMU data,and a pose closed-loop control strategy based on model predictive control is designed.The overall coordinate system of the robot is established by kinematics modeling and the introduction of the attitude matrix to realize the pose control and coordinate mapping of the robot;the attitude parameters of the robot during motion are measured by the inertial measurement unit(IMU),and the torso based on the model predictive control is designed.The attitude closed-loop control adjustment algorithm realizes the adaptive adjustment of the torso attitude of the robot in the process of environmental interference.In the simulation environment,laboratory environment and field environment,the feasibility and effectiveness of the proposed algorithm are verified.Experimental results show that the proposed closed-loop control strategy improves the stability of the robot in fluctuating environments,and realizes the adaptive attitude adjustment of the quadruped robot.