机械工程学报 >

2017 , Vol. 53 >Issue 1: 13 - 20

DOI: https://doi.org/10.3901/JME.2017.01.013

机构学及机器人

基于力反馈的液压足式机器人主/被动柔顺性控制*

  • 柯贤锋 ,
  • 王军政 ,
  • 何玉东 ,
  • 汪首坤 ,
  • 赵江波
展开
  • 北京理工大学复杂系统智能控制与决策国家重点实验室 北京 100081
柯贤锋，男，1989年出生。主要研究方向为运动驱动与控制，液压四足机器人柔顺性控制。E-mail：xinfeng.k@gmail.com王军政(通信作者)，男，1964年出生，博士，教授，博士研究生导师。主要研究方向为运动驱动与控制，伺服系统静动态性能测试，基于图像的动态目标检测与跟踪技术，机器人技术。E-mail：wangjz@bit.edu.cn

网络出版日期: 2017-01-05

基金资助

* 国家高技术研究发展计划资助项目(863计划，2011AA041002); 20160328收到初稿，20161011收到修改稿;

收起

Active/Passive Compliance Control for a Hydraulic Quadruped Robot Based on Force Feedback

  • KE Xianfeng ,
  • WANG Junzheng ,
  • HE Yudong ,
  • WANG Shoukun ,
  • ZHAO Jiangbo
Expand
  • Key Laboratory of Intelligent Control and Decision of Complex System，Beijing Institute of Technology， Beijing 100081

Online published: 2017-01-05

Fold

摘要

在足式机器人运动过程中，柔顺性控制能有效减少足端触地冲击力，提高环境适应能力。被动弹簧常被用来实现机器人与环境柔性接触，但不能有效吸收剩余冲击能量。主动柔顺能够根据环境不同而调整末端刚度与阻尼，却由于冲击力作用时间很短，对执行器的响应速度有较高的要求。试验发现将主动柔顺控制与被动柔顺相结合，可弥补上述不足，并实现机器人柔顺性触地。在单液压执行器系统中验证了这种方法的有效性，将此控制策略应用在四足机器人单腿系统，得到了同样的效果。通过分析单自由度执行器系统，总结所提柔顺性控制器参数设计原则，进而为四足机器人整体柔顺性设计提供依据。

关键词： 液压足式机器人; 冲击力; 被动柔顺; 主动柔顺

本文引用格式

柯贤锋 , 王军政 , 何玉东 , 汪首坤 , 赵江波 . 基于力反馈的液压足式机器人主/被动柔顺性控制*[J]. 机械工程学报, 2017 , 53(1) : 13 -20 . DOI: 10.3901/JME.2017.01.013

Abstract

In the realm of quadruped robot locomotion, compliance control is imperative to handle impacts when negotiating unstructured terrains. Usually, passive devices such as the spring are used to implement compliance contact with environments. However, the impact energy cannot be totally absorbed by the spring. Active compliance control is another good solution to deal with the impacts by changing the end-effector stiffness and damping, but it also has intermediate requirements for the actuator, because the impact duration is too short. In order to achieve a better compliance performance, the position based active compliance control is combined with the passive compliance control by strengthening their advantages and making up the shortfalls. We first implement this method on a hydraulic actuator, and then similar experiments are carried out on a quadruped robot leg, the controller has same effect on both platform. Conclusions about compliance controller designing can be received by analyzing the one degree of freedom actuator system model. All the work lays a solid foundation for the quadruped robot compliance control designing.

 

Key words： hydraulic quadruped robot; impact; passive compliance; active compliance

参考文献

[1]    RAIBERT M，BLANKESPOOR K，NELSON G，et al. Bigdog，the rough-terrain quadruped robot[C]// Proceedings of the 17th IFAC World Congress，July，2008，Seoul，Korea. Holland：Elsevier，2008：10822-10825.

 [2]  RUTISHAUSER S，SPR WITZ A，RIGHETTI L，et al. Passive compliant quadruped robot using Central Pattern Generators for locomotion control[C]// 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics，Oct. 19-22，2008，Scottsdale，AZ，USA. USA：IEEE，2009：710-715.

 [3]  CHEN X，GAO F，QI C，et al. Gait planning for a quadruped robot with one faulty actuator[J]. Chinese Journal of Mechanical Engineering，2015，28(1)：11-19.

 [4]  VUKOBRATOVIC M. Dynamics and robust control of robot-environment interaction[M]. Sigapore：World Scientific，2009.

 [5]  NICHOL J G，SINGH S P N，WALDRON K J，et al. System design of a quadrupedal galloping machine[J]. International Journal of Robotics Research，2004，23：1013-1027.

 [6]  尹鹏，李满天，郭伟，等. 面向足式机器人的新型可调刚度柔性关节的设计及性能测试[J]. 机器人，2014，36(3)：322-329.

        YI Peng，LI Mantian，GUO Wei，et al. Design and testing of a novel joint with adjustable stiffness for legged robot[J]. Robot，2014, 36(3)：322-329.

 [7]  张雪峰，秦现生，冯华山，等. 面向奔跑运动的刚–柔复合四足机器人单腿设计与实验研究[J]. 机器人，2013，35(5)：582-588.

        ZHANG Xuefeng，QIN Xiansheng，FENG Huashan，et al. Design and experiment study on a quadruped robot single leg with composite rigid-flexible configuration for gallop gait[J]. Robot，2013，35(5)：582-588. 

 [8]  SEMINI C，TSAGARAKIS N G，GUGLIELMINO E，et al. Design of HyQ–a hydraulically and electrically actuated quadruped robot[J]. Proceedings of the Institution of Mechanical Engineers，Part I：Journal of Systems and Control Engineering，2011，225(6)：831-849.

 [9]  HYUN D J，SEOK S，LEE J，et al. High speed trot-running：Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah[J]. The International Journal of Robotics Research，2014，33(11)：1417-1445.

[10]  柴汇，孟健，荣学文，等. 高性能液压驱动四足机器人SCalf的设计与实现[J]. 机器人，2014，36(4)：385-391.

        CHAI Hui，MENG Jian，RONG Xuewen，et al. Design and implementation of Scalf，an advanced hydraulic quadruped robot[J]. Robot，2014，36(4)：385-391.

[11]  ANDERSON R，SPONG M W. Hybrid impedance control of robotic manipulators[J]. Robotics and Automation，IEEE Journal of，1988，4(5)：549-556.

[12]  HOGAN N. Impedance control：An approach to manipulation：Part I—Theory[J]. Journal of Dynamic Systems，Measurement，and Control，1985，107(1)：1-7.

[13]  FOCCHI M. Strategies to improve the impedance control performance of a quadruped robot[D]. Genoa：Istituto Italiano di Tecnologia，2013.

[14]  LI M，JIANG Z，WANG P，et al. Control of a quadruped robot with bionic springy legs in trotting gait[J]. Journal of Bionic Engineering，2014，11(2)：188-198.

[15]  RAIBERT M，CHEPPONIS M，BROWN JR H B. Running on four legs as though they were one[J]. Robotics and Automation，IEEE Journal of，1986，2(2)：70-82.

Options
文章导航

/

〈 〉

版权所有 © 《机械工程学报》编辑部

技术支持：北京玛格泰克科技发展有限公司