摘要
针对四足机器人在对角小跑运动时出现的后腿"拖地"、机体振荡的现象,提出了一种基于偏航方向上主动腰关节摆动的解决方法。通过D-H法对机器人各关节进行运动学建模,获得其运动学方程,并采用Kuramoto振荡器模型作为扩展的CPG耦合网络振子,实现对腰、腿关节的统一控制。仿真实验表明,经过腰关节控制优化后的机器人在对角小跑时,相对于刚体躯干的机器人,姿态角变化幅度显著减小,抬腿高度明显增加,有效地提高了机器人的运动稳定性,证明了方法的可行性。
To solve the problems of hind legs touching the ground and body vibration during the trotting locomotion of the quadruped robot,a solution based on lateral swing of spine joints in yaw direction is proposed.The kinematics functions of joints were obtained with a kinematics modeling procedure by the D-H method,and the Kuramoto model was used in the extended CPG network to control the leg and spine joints uniformly. The simulation results show that compared with the robot with rigid body,when the robot optimized by the spine joints in the trotting locomotion,the fluctuation of the body attitude angles is decreased,the foot lift height of the hind leg is increased,and the gait stability of robot is improved. Therefore,the effectiveness of the proposed solution is demonstrated.
作者
戚奇恩
宋光明
QI Qi-en;SONG Guang-ming(School of Intnument Seiene sand Engineering,Southeast Univenity,Nanjing 210096,China)
出处
《测控技术》
2020年第4期38-42,48,共6页
Measurement & Control Technology
