连续不规则台阶环境四足机器人步态规划与控制.PDFVIP

第37 卷第1 期 机器人 ROBOT Vol.37, No.1 2015 年1 月 Jan., 2015 DOI ：10.13973/j.cnki.robot.2015.0085 连续不规则台阶环境四足机器人步态规划与控制 孟 健，李贻斌，柴 汇，李 彬 （山东大学控制科学与工程学院，山东济南 250061 ） 摘 要：为了实现四足机器人在无崎岖地形先验知识情况下的自主爬行，提出了一种四足机器人运动控制方 法．该方法采用间歇爬行步态作为主步态，将爬行运动分解为若干任务分别进行控制：基于NESM （normalized energy stability margin ）判据计算内外倾的稳定裕度并根据其比值进行质心位置调整；使用坐标映射的方式调整足 端坐标进行地面坡度适应；通过调整各腿长度控制机器人的高度；利用姿态传感器信息进行姿态恢复．仿真和实 验表明，机器人仅依赖内部传感器即实现了在崎岖地形稳定行走，验证了本文方法的有效性和可靠性． 关键词：四足机器人；台阶；间歇爬行步态；崎岖地形 中图分类号：TP242.6 文献标识码：A 文章编号：1002-0446(2015)-01-0085-09 Gait Planning and Control of Quadruped Robots in Continuous Irregular Steps Environment MENG Jian ，LI Yibin ，CHAI Hui ，LI Bin (School of Control Science and Engineering, Shandong University, Jinan 250061, China) Abstract: In order to implement autonomous walking of quadruped robot without prior knowledge of rugged terrain, a motion control method for quadruped robot is proposed. In this method, intermittent crawl is selected as the main gait, and the crawling motion is separated into several individual control tasks: the position of the center of mass is adjusted by calculating the ratio of the stability of inner falling and outer falling based on NESM (normalized energy stability margin) criteria; the slope of the terrain is adapted by mapping the coordinates of the toes; the height of the robot is controlled by adjusting the lengths of the legs; and the posture of the robot is recovered based on the information of the attitude sensor. Simulations and experiments prove that the robot walks stably on rugged terrain, only relyin