發(fā)布時間：2018-01-11 08:04

  本文關(guān)鍵詞：復(fù)雜地形環(huán)境中四足機(jī)器人行走方法研究　出處：《山東大學(xué)》2016年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 四足機(jī)器人 靜步態(tài)規(guī)劃 自由步態(tài)規(guī)劃 力控制

【摘要】：地球陸地表面有超過50%以上的面積都是崎嶇不平的山地、陡坡、沼澤等,輪式或履帶式機(jī)構(gòu)均無法在這些地形中移動。然而,許多陸生四足哺乳能夠在崎嶇度較高的地形中靈活自如地行走,它們在負(fù)重能力、復(fù)雜地形適應(yīng)性、運(yùn)動靈活性以及能量利用率等方面都具有極大的優(yōu)勢。以四足哺乳動物為仿生對象開發(fā)的四足機(jī)器人既有比雙足機(jī)器人更高的穩(wěn)定性又避免了多足機(jī)器人機(jī)構(gòu)的復(fù)雜性,因而,從制造成本、控制難易程度和穩(wěn)定性等方面綜合考慮,四足機(jī)器人為最佳的腿足式機(jī)器人形式。鑒于四足機(jī)器人所具有的諸多優(yōu)點,其在地形勘測、工程探險、救災(zāi)救援、軍事偵察、環(huán)境監(jiān)測等領(lǐng)域具有廣闊的應(yīng)用前景。四足機(jī)器人自身機(jī)械結(jié)構(gòu)復(fù)雜,是一個非線性多體系統(tǒng)動力學(xué)系統(tǒng)。因此,構(gòu)造具有大負(fù)載能力、高動態(tài)性和環(huán)境適應(yīng)性的高性能四足機(jī)器人需要在機(jī)械結(jié)構(gòu)設(shè)計、運(yùn)動學(xué)分析、穩(wěn)定性評價方法、步態(tài)規(guī)劃、足力控制、系統(tǒng)集成等方面有所突破。論文主要圍繞如何提高四足機(jī)器人的環(huán)境適應(yīng)性和運(yùn)動穩(wěn)定性,通過研究四足機(jī)器人的結(jié)構(gòu)和運(yùn)動特點,提出了一系列步態(tài)生成方法,主要包括以下幾方面內(nèi)容：1、實現(xiàn)單關(guān)節(jié)對給定信號的準(zhǔn)確跟隨是四足機(jī)器人運(yùn)動控制的基礎(chǔ)。本文在分析四足機(jī)器人拓?fù)浣Y(jié)構(gòu)的基礎(chǔ)上,建立了機(jī)器人的運(yùn)動學(xué)模型,并提出了一種基于速度前饋的四足機(jī)器人單關(guān)節(jié)伺服控制器,通過將期望軌跡經(jīng)由雅克比矩陣獲得的期望的關(guān)節(jié)角速度作為伺服系統(tǒng)的前饋,有效地改善了四足機(jī)器人關(guān)節(jié)伺服系統(tǒng)的性能。2、為了保證四足機(jī)器人在一般崎嶇地形中穩(wěn)定地行走,本文提出了一種連續(xù)靜步態(tài)的生成方法。在四足機(jī)器人的行走過程中,規(guī)劃其軀干平行于水平地面且以一定的速度連續(xù)地向前運(yùn)動,這樣,能夠在簡化步態(tài)生成的同時提高機(jī)器人的平均運(yùn)動速度；通過增加四足支撐相中的重心擺動,機(jī)器人穩(wěn)定性得到有效地提高；另外,本文中給出了擺動足足底運(yùn)動軌跡規(guī)劃方法,能夠保證擺動足準(zhǔn)確地運(yùn)動至目標(biāo)落足點。3、當(dāng)四足機(jī)器人使用非連續(xù)步態(tài)行走時,雖然其平均運(yùn)動速度較低,但能夠獲得較高的穩(wěn)定裕度。本文提出了一種四足機(jī)器人非連續(xù)靜步態(tài)的規(guī)劃方法。該方法包括姿態(tài)調(diào)整規(guī)劃、軀干運(yùn)動曲線規(guī)劃以及擺動足足底軌跡規(guī)劃三部分。通過對這三部分的規(guī)劃,有效地保證了四足機(jī)器人在行走過程中的穩(wěn)定性,進(jìn)而提高了四足機(jī)器人的地形適應(yīng)性。4、自然地形中往往包含不適于四足機(jī)器人落足的區(qū)域,當(dāng)在這類地形上行走時,四足機(jī)器人需要使用一種名為自由步態(tài)的非周期性的靜步態(tài)。本文給出了一種連續(xù)自由步態(tài)的規(guī)劃方法。基于地形中提前已知的可選落足點位置,四足機(jī)器人在行走過程中,能夠自主選擇邁步順序,并為擺動足選擇最優(yōu)落足點；通過重心的擺動,四足機(jī)器人能夠保證其在行走過程中的穩(wěn)定裕度不小于最小穩(wěn)定裕度。使用本文中提出的連續(xù)自由步態(tài),四足機(jī)器人能夠自主、穩(wěn)定、快速地通過包含不可落足區(qū)域的崎嶇地形。5、通過力控制方法的應(yīng)用,可以提高四足機(jī)器人在行走過程中的步態(tài)柔順性,進(jìn)而保證四足機(jī)器人在崎嶇地形上的穩(wěn)定性。本文著重研究了四足機(jī)器人在使用靜步態(tài)/自由步態(tài)行走時的力控制方法,詳細(xì)分析了基于動力學(xué)模型的力控制方法和基于PD的力控制方法,并給出了基于足力分配的力控制方法以及基于阻抗控制的力控制方法。通過這些方法的應(yīng)用,實現(xiàn)了四足機(jī)器人的力控制,使四足機(jī)器人獲得了更加優(yōu)秀的性能。
[Abstract]:The land surface of the earth are more than 50% of the area is rugged and mountainous, steep slope, swamp, wheeled or tracked institutions are unable to move on this terrain. However, many terrestrial mammalian quadruped can walk in the high degree of rugged terrain flexibly, their weight capacity, adaptability to complex terrain, all has the great advantage of the flexibility of movement and energy utilization and other aspects. In mammals of quadruped bionic quadruped robot developed both more stability of the biped robot and avoids the complexity of multi legged robot mechanism, therefore, the manufacturing cost control, the degree of difficulty and stability consideration for quadruped robot the best form of legged robot. In view of the many advantages of the quadruped robot has, in terrain surveying, engineering exploration, disaster rescue, military reconnaissance, environmental monitoring and so on. The domain has a wide application prospect. The quadruped robot mechanical structure is complex, is a nonlinear dynamic system of multibody system. Therefore, structure has a large load capacity, in mechanical structure design, kinematics analysis of a quadruped robot needs high performance high dynamic and environmental adaptability, stability evaluation method, gait planning, force control, system integration as a breakthrough. This thesis mainly focuses on how to improve the environmental adaptability and motion stability of quadruped robot, the structure and motion characteristics of quadruped robot, put forward a series of gait generation method, it mainly includes the following aspects: 1, to achieve a single joint of a given signal accurately is the basis of quadruped robot motion following control. In this paper based on the analysis of topological structure of quadruped robot, establish the kinematics model of the robot, and propose a method based on speed Quadruped robot joint servo controller of single feedforward, the desired trajectory through the Jacobian matrix obtained the desired angular velocity as a feedforward servo system, and effectively improve the performance of.2 quadruped robot joint servo system, in order to ensure the stable walking of quadruped robot in rough terrain, this paper presents a continuous static gait generation method. In the running process of quadruped robot, planning the torso parallel to the ground and continuously at a certain speed to move forward, so, to simplify gait generation and improve the average movement speed of the robot; by increasing the center of gravity of the swing phase stability of quadruped robot support, has been effectively improved; in addition, this paper gives a full swing bottom trajectory planning method, can guarantee the swing foot accurately to the target footholds when.3. The use of non continuous gait of quadruped robot, although the average velocity is low, but can get a higher margin. This paper proposes a quadruped robot planning method for continuous non static gait. The method includes attitude adjustment planning, planning and trunk movement curve for bottom swing trajectory planning. Based on the three part the three part of the plan, and effectively ensure the stability of the quadruped robot in the process of walking, so as to improve the adaptability of terrain.4 quadruped robot, natural terrain often contain areas not suitable for quadruped robot foot, when walking in this type of terrain, quadruped robot needs static gait using a kind of non periodic free gait planning method. This paper gives a continuous free gait. Optional terrain ahead of the known foot position based on quadruped robot through the process. In order to be able to choose the move, foot and choose the optimal footholds for swing; through the gravity swing, quadruped robot can ensure the process of walking stability margin is not less than the minimum stability margin. The use of continuous free gait is presented in this paper, the quadruped robot can be independent, stable, fast by including the rugged the terrain.5 may not fall foot area, through the force control method is used, can improve the flexibility of gait of quadruped robot in the process of walking, so as to ensure the stability of the quadruped robot in rough terrain. This paper focuses on the research of the quadruped robot in static gait / free gait when the force control method is analyzed in detail. Control method and control method based on PD force based on the dynamic model, and puts forward the control method of the force and the foot force distribution based on impedance control based on force control method. Through the application of these methods, the force control of the quadruped robot has been realized, which makes the quadruped robot get better performance.

【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：TP242

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