| 艾青林,徐坚,宋国正,童行胜.基于VHIP模型的主动躯干关节四足机器人抗侧向冲击控制策略[J].高技术通讯(中文),2024,34(12):1256~1265 |
| 基于VHIP模型的主动躯干关节四足机器人抗侧向冲击控制策略 |
| Lateral impact rejection control strategy of quadruped robot with active trunk joint based on VHIP model |
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| DOI：10. 3772 / j. issn. 1002-0470. 2024. 12. 002 |
| 中文关键词: 四足机器人； 可变高度倒立摆(VHIP)； 中枢模式发生器(CPG)； 侧向抗干扰； 捕获点理论 |
| 英文关键词: quadruped robot, variable height inverted pendulum (VHIP), central pattern generator (CPG), lateral anti-interference, capture point theory |
| 基金项目: |
| 作者 | 单位 | | 艾青林 | （浙江工业大学特种装备制造与先进加工技术教育部/浙江省重点实验室杭州 310023） | | 徐坚 | | | 宋国正 | | | 童行胜 | |
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| 中文摘要: |
| 为了提高主动躯干四足机器人抗侧向冲击能力，提出一种基于可变高度倒立摆(VHIP)模型的捕获点控制策略。将机器人Trot步态下的侧向运动抽象成VHIP捕获点模型，通过零力矩点(ZMP)判定冲击类型。根据受到冲击后机器人的扰动特性来规划理想的侧向落足点，并利用质心轨迹能量模型规划躯干关节运动。在此基础上，利用中枢模式发生器(CPG)生成关节控制信号，并给出冲击后机器人的偏航姿态调节方法和躯干 腿的耦合策略。仿真和实验结果表明，本文控制策略可以减小机身受冲击时的扰动幅度，且与传统捕获点策略相比，本文策略能够缩短机器人侧向瞬时捕获距离并有效抑制机身的偏航。 |
| 英文摘要: |
| This paper proposes a capture point control strategy based on a variable height inverted pendulum (VHIP) model to enhance the lateral impact resistance of the quadruped robot with active trunk joint.The lateral movement of the robot with the Trot gait is abstracted into a VHIP capture point model, and the impact type is determined by the zero moment point (ZMP). The ideal lateral foothold is planned according to the disturbance characteristics of the robot after the impact, and the trunk joint motion is planned by using the energy model of the center of mass trajectory. On this basis, the central pattern generator (CPG) is used to generate joint control signals, and the robot’s yaw attitude adjustment method and trunk-leg coupling strategy are given after impact. The simulation and experimental results demonstrate that the control strategy proposed in this paper can decrease the amplitude of disturbances upon impact with the body, and compared with the traditional capture point strategy, it can effectively suppress the yaw of the body and shorten the lateral instantaneous capture distance of the robot. |
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