基于阻抗和虚拟模型的四足机器人控制方法

doi:10.16182/j.issn1004731x.joss.21-0532

系统仿真学报 ›› 2022, Vol. 34 ›› Issue (10): 2152-2161.doi: 10.16182/j.issn1004731x.joss.21-0532

基于阻抗和虚拟模型的四足机器人控制方法

宫赤坤¹(), 吴浔炜¹, 袁立鹏²

^1.上海理工大学机械工程学院，上海 200093
^2.哈尔滨工业大学机电工程学院，黑龙江哈尔滨 150001

收稿日期:2021-06-08 修回日期:2021-08-07 出版日期:2022-10-30 发布日期:2022-10-18
作者简介:宫赤坤(1968-)，男，博士，副教授，研究方向为机器人学。E-mail：gongchikun@126.com
基金资助:
国家重点研发计划(2018YFB2000700)

Control of Quadruped Robot Based on Impedance and Virtual Model

Chikun Gong¹(), Xunwei Wu¹, Lipeng Yuan²

^1.School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China
^2.School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China

Received:2021-06-08 Revised:2021-08-07 Online:2022-10-30 Published:2022-10-18

摘要/Abstract

摘要：

为提高四足机器人的运动稳定性，提出基于阻抗和虚拟模型的控制方法。采用基于力的阻抗控制方法进行腿部摆动相的控制，实现摆动相较为精准的轨迹跟踪以及腿部的柔顺控制；采用虚拟模型控制方法进行支撑相的控制，实现对机器人机身姿态的控制，实现了四足机器人的稳定行走。结合横向跨步策略以及虚拟模型的偏航角控制策略，提出机器人抗侧向冲击控制方法，保证了四足机器人受侧向冲击后能够保持平衡并恢复运动状态。仿真结果验证了所提出的控制方法的有效性。

关键词: 四足机器人, 阻抗控制, 虚拟模型控制, 侧向冲击, 平衡恢复策略

Abstract:

In order to improve the motion stability of quadruped robot, a control method based on impedance and virtual model is proposed. The force-based impedance control method is used to control the leg swing phase to realize the more accurate trajectory tracking and leg compliance control. The virtual model control method is used to control the support phase to realize the attitude control of the robot body and the stable walking of the quadruped robot. Combined with the lateral stride strategy and the yaw angle control strategy based on virtual model, a robot anti-lateral impact control method is proposed, which ensures that the quadruped robot maintains balance and resumes its motion state after being subjected to lateral impact. The simulation results verify the effectiveness of the proposed control method.

Key words: quadruped robot, impedance control, virtual model control, lateral impact, balance recovery strategy

中图分类号:

TP242

宫赤坤, 吴浔炜, 袁立鹏. 基于阻抗和虚拟模型的四足机器人控制方法[J]. 系统仿真学报, 2022, 34(10): 2152-2161.

Chikun Gong, Xunwei Wu, Lipeng Yuan. Control of Quadruped Robot Based on Impedance and Virtual Model[J]. Journal of System Simulation, 2022, 34(10): 2152-2161.

图/表 14

图1

表1

图2

图3

图4

图5

图6

表2

仿真参数

参数	数值
足端与地面接触刚度/(N/mm)	2 855
机器人与地面摩擦因数	0.35
步态周期/s	0.5
控制频率/Hz	250
$M d$ /kg	10
$B d$ /(N/(m·s^-1))	[800, 800]
$K d$ /(N/m)	[5 000, 4 000]
$K x$ /(N/m)	0
$K Z$ /(N/m)	7 000
$K θ$ /(N·m/rad)	8 000
$B x$ /(N/(m·s^-1))	1 000
$B Z$ /(N/(m·s^-1))	800
$B θ$ /(N·m/(rad·s^-1))	800
$K φ$ /(N·m/rad)	6 000
$B φ$ /(N·m/(rad·s^-1))	500

表2

图7

图8

图9

图10

图11

图12

参考文献 15

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参数	数值	参数	数值
躯干质量/kg	96	小腿质量/kg	2.5
前后髋关节距离/m	1.1	髋部侧摆长度/m	0.075
左右髋关节距离/m	0.5	大腿长度/m	0.4
髋部侧摆质量/kg	2	小腿长度/m	0.36
大腿质量/kg	3.5

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基于阻抗和虚拟模型的四足机器人控制方法

Control of Quadruped Robot Based on Impedance and Virtual Model

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