基于接触构型运动分解的四足机器人适应性控制方法研究

In order to promote the application of walking robots and improve their environmental adapability, the task is proposed, which includes quadruped dynamic terrain-walking control based on time-pose control and realization of designed prototype of quadruped robot walking on terrain with better compliance. Firstly, using the observation and analyze of mammal's walking and running, exterior characters are gained and applied to determine the detailed requirement of quadruped walking control. Then, inspired by the idea of multi-level control, quadruped gait control is developed by designning online motion planning method under the frame of time-pose control. Thirdly, the problem of quadruped postural control is divided into the control of two individual planar dual-leg mechanism in two orthogonal plane under the motion decomposition based on configuration of contact,and the dynamic control of planar dual-leg mechanism based on floating base systems' control is researched to realize the trajectory tracing of quadruped trunk and to keep balance of the quadruped robot combining with the calculation of landing position of swing legs. Furthermore, the swing foot-ground contact control based on force servo of single joint is studied, while the force and moment between swing leg and trunk is taken as disturbance. Finally, the prototype's dynamic walking on terrain is realized by synthesized above-mentioned methods. The potential achievements have theoretical values on solving the problem of improving legged robots' environmental adapability and practical values to propel the application of walking robots.

为拓展步行机器人应用范围，以提升四足机器人地面环境适应能力为任务，开展步行机器人适应性控制方法研究。通过哺乳类四足动物运动特性观察、分析，了解其动态步行的外在特点，把握四足仿生机器人动态运动控制各环节的需求；构建位置、姿态、力等多传感器信息分层反馈结构；提出基于支撑构型的运动分解方法，设计在线规划方法，结合内外环设计思路，开展步态控制研究；将四足姿态控制问题分解为两个正交平面上独立控制问题，研究平面两腿机构的动力学建模与控制，借鉴动基座机器人控制思想，实现其上体轨迹跟踪，并结合摆动腿落脚位置计算和落脚控制策略，实现上体平衡控制；把摆动腿运动过程中产生的与上体之间的力/力矩（包括由接触力/力矩导致的）视为干扰，开展基于力内环的摆动腿接触控制研究；最后综合应用上述控制方法，在样机上实现复杂地面环境下的动态步行运动控制。预期成果对于解决步行机器人地面环境适应问题具有重要理论价值。

为拓展步行机器人应用范围， 提升四足机器人地面环境适应能力为任务， 课题开展了步行机器人适应性控制方法研究。首先通过哺乳类四足动物运动特性观察、分析，了解其动态步行的外在特点，把握四足仿生机器人动态运动控制各环节的需求，并构建多传感器信息分层反馈结构；然后提出基于支撑构型的运动分解方法， 设计在线规划方法，结合内外环设计思路，开展步态控制研究，将四足姿态控制问题分解为两个正交平面上独立控制问题，研究平面两腿机构的动力学建模与控制，借鉴动基座机器人控制思想，实现其上体轨迹跟踪，并结合摆动腿落脚位置计算实现平衡控制；进一步把摆动腿运动过程中产生的与上体之间的力/力矩（包括由接触力/力矩导致的）视为干扰，开展基于力内环的摆动腿接触控制研究；最后综合应用上述控制方法，在仿真环境和样机上实现了复杂地面环境下的动态步行运动控制。

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