足式机器人SLIP模型向上跳跃台阶的运动控制

Motion control of upward jumping step for SLIP model of legged robot

中文关键词  足式机器人  运动控制  SLIP模型  台阶地形  能量补充

英文关键词  legged robot  motion control  SLIP model  step topography  energy supplement

中文摘要

      由于存在地势起伏, 台阶对足式机器人运动稳定性会带来较大挑战. 弹簧负载倒立摆模型(SLIP)作为研究足式机器人的优良模板, 能否完成向上跳跃台阶的动作与其腿部摆角, 起跳位置和跳跃高度都有密切的关系. 由于调整模型腿部摆角规律容易引发运动失效, 故本文在算法中引入虚拟弹簧腿, 根据虚拟弹簧腿的运行规律确定合理起跳位置, 根据起跳位置来控制系统跳跃高度进而完成跳跃台阶的动作. 最后利用仿真软件进行多组仿真, 结果表明本文算法对起跳区间划分合理, 对起跳高度控制精准, 能够实现SLIP模型跳跃台阶前后的稳定运动.

英文摘要

      The existence of steps presents significant hurdles to the motion stability of the legged robot because of uneven ground. The spring-loaded inverted pendulum (SLIP) model is an excellent template for studying the legged robot. Whether it can complete the action of jumping up the step is closely related to its leg swing angle, jump position and jump height. Because it is easy to cause motion failure by adjusting the swing angle law of the leg of the model, this paper introduces a virtual spring leg into the algorithm, determines a reasonable jump position according to the operation law of the virtual spring leg, and controls the jump height according to the jump position to complete the action of the jump step. Finally, multiple sets of simulations have been carried out by simulation software. The results show that the algorithm in this paper divides the jump interval reasonably, controls the jump height accurately, and can realize the stable movement of SLIP model before and after jumping steps.