基于Hopf振荡器的四足机器人步态CPG调节

doi:10.16182/j.issn1004731x.joss.201712021

系统仿真学报 ›› 2017, Vol. 29 ›› Issue (12): 3092-3099.doi: 10.16182/j.issn1004731x.joss.201712021

基于Hopf振荡器的四足机器人步态CPG调节

徐海东, 干苏, 任杰, 王斌锐^*, 金英连

中国计量大学机电工程学院,浙江杭州 310000

收稿日期:2015-10-23 发布日期:2020-06-06
作者简介:徐海东(1991-),男,安徽马鞍山,硕士,研究方向为机器人运动规划与控制。
基金资助:
国家自然科学基金(51575503)

Gait CPG Adjustment for a Quadruped Robot Based on Hopf Oscillator

Xu Haidong, Gan Su, Ren Jie, Wang Binrui^*, Jin Yinglian

School of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310000, China

Received:2015-10-23 Published:2020-06-06

摘要/Abstract

摘要： 中枢模式发生器(CPG)对于哺乳动物的节律运动有着重要作用。依据猎狗的步态特征和肢体运动关系,针对四足机器人的结构特点,以Hopf振荡器模型为核心,使用旋转矩阵连接四个振荡器,建立全对称的CPG网络模型。CPG网络输出信号通过映射函数变换作为机器人虚拟样机关节转角的控制信号。通过调节CPG网络中占空比等参数,改变旋转矩阵的值,可以实现在walk与trot两种典型步态间的快速平滑转换。通过MATLAB与ADAMS联合仿真实验,验证了调节CPG模型参数实现四足机器人的步态转换的有效性。

关键词: 四足机器人, Hopf振荡器模型, 节律信号, 旋转矩阵, 步态转换

Abstract: CPG (central pattern generator) plays an important role for rhythm motion of the mammals. According to gait characteristics and kinematic relationship of hound, a full symmetric CPG network was built by considering the structure features of quadruped robot. Hopf oscillators model were chosen as core neuron models of CPG network, and the rotation matrix was used to connect four oscillators. After transformation by mapping function, output signals of CPG network were used to control joint angle of the virtual prototype robot. Quick and smooth transition between walk gait and trot gait were achieved by adjusting the parameters of CPG network such as duty ratio and changing the rotation matrix. The performance and effectiveness of adjusting the parameters in CPG network to realize gait transition were verified by coordinated simulation between MATLAB and ADAMS.

Key words: quadruped robot, Hopf oscillator model, rhythmic signal, rotation matrix, gait transition

中图分类号:

TP391.9

徐海东, 干苏, 任杰, 王斌锐, 金英连. 基于Hopf振荡器的四足机器人步态CPG调节[J]. 系统仿真学报, 2017, 29(12): 3092-3099.

Xu Haidong, Gan Su, Ren Jie, Wang Binrui, Jin Yinglian. Gait CPG Adjustment for a Quadruped Robot Based on Hopf Oscillator[J]. Journal of System Simulation, 2017, 29(12): 3092-3099.

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基于Hopf振荡器的四足机器人步态CPG调节

Gait CPG Adjustment for a Quadruped Robot Based on Hopf Oscillator

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