[1]尹 鹏,李满天,王 俊,等.基于足地接触力跟踪的单足机器人弹跳运动控制[J].机械与电子,2015,(04):3.
　YIN Peng,LI Mantian,WANG Jun,et al.Hopping Control of Single-leg Robot on Compliant Ground Based on Ground Force Control[J].Machinery & Electronics,2015,(04):3.
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基于足地接触力跟踪的单足机器人弹跳运动控制
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年04期
页码:
3
栏目:
设计与研究
出版日期:
2015-04-25

文章信息/Info

Title:
Hopping Control of Single-leg Robot on Compliant Ground Based on Ground Force Control
文章编号:
1001-2257(2015)04-0003-05
作者:
尹 鹏1; 李满天1; 王 俊3; 查富生2; 3; 孙立宁1
(1.哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江 哈尔滨 150001; 2.哈尔滨工业大学超精密光电仪器工程研究所,黑龙江 哈尔滨 150001; 3.双钱集团(江苏)轮胎有限公司博士后创新基地,江苏 如皋 226500)
Author(s):
YIN Peng1; LI Mantian1; WANG Jun3; ZHA Fusheng2; 3; SUN Lining1
( 1.State Key Laboratory of Robotic and System,Harbin Institute of Technology,Harbin 150001,China; 2.Harbin Institute of Technology Center of Ultra-Precision Optoelectronic Engineering,Harbin 150001,China; 3.Postdoctoral Innovation Base of Double Coin Gro
关键词:
弹跳机器人;  被动运动;  足地接触力;  地面刚度
Keywords:
hopping robot;  passive movement;  ground force;  ground stiffness
分类号:
TP24
文献标志码:
A
摘要:
为了使足式弹跳机器人在运动中避免由于地面接触刚度的变化对弹跳运动产生的影响,首先建立了单足弹跳机器人在弹性地面条件下的运动简化模型,进而分析了地面弹簧刚度变化对机体重心运动轨迹以及着地相中足地接触力的影响。采用足地接触力补偿控制的手段,通过主动控制单腿的伸缩,使模型中弹簧系统的足力输出与期望保持一致,消除了地面刚度变化对机体运动的干扰。利用仿真实验表明了控制方法的可行性。
Abstract:
The performance of legged hopping robot is subjected to the influence of the ground stiffness feature during the contact phase. To avoid the influence and insulate the ground stiffness disturbance we first established the simplified single-leg hopping model with elastic-featured ground,then an analysis about the relation of ground stiffness with moving trajectory and contact force profile is made. Based on this a control strategy to utilized to compensate the ground contact force to be the same as that of an undisturbed system via active extension or retraction of the leg during contact. The validity is demonstrated by simulation result.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2014-11-07
基金项目:国家自然科学基金(61175107,61375097,61473015); 国家重点实验室基金(SKLRS201204B); 博士后科学基金(AUGA4130938514)
作者简介:尹 鹏(1985-),男,山东聊城人,博士研究生,研究方向为仿生机器人技术; 李满天(1974-),男,湖南邵阳人,博士研究生导师,副教授,研究方向为 仿生机器人,特种机器人等。
更新日期/Last Update: 2015-04-25