基于SLIP模型的液压驱动单腿机器人竖直跳跃控制-中南大学学报.PDFVIP

第 49 卷第 1 期 中南大学学报( 自然科学版) Vol.49 No. 1 2018 年 1 月 Journal of Central South University (Science and Technology) Jan. 2018 DOI: 10.11817/j.issn.1672-7207.2018.01.010 基于SLIP 模型的液压驱动单腿机器人竖直跳跃控制 陈志伟，金波，朱世强，庞云天，黄翰林，陈刚 (浙江大学 流体动力与机电系统国家重点实验室，浙江 杭州，310027) 摘要：针对液压驱动足式机器人竖直跳跃控制，提出一种基于 SLIP 竖直跳跃动力学模型实现液压驱动机器人竖 直跳跃的控制策略。分析 SLIP 竖直跳跃动力学模型并求解其动力学微分方程得到质心运动轨迹，将关节型单腿 机器人竖直跳跃髋部的运动轨迹映射到 SLIP 模型质心的运动轨迹，通过机器人运动学逆解得到机器人关节运动 轨迹，以此驱动关节运动；同时建立关节型单腿机器人竖直跳跃动力学方程和液压驱动执行器动力学方程，应用 MATLAB/Simulink 软件进行动态跳跃控制仿真并进行样机试验。研究结果表明：基于 SLIP 竖直跳跃动力学模型 的控制策略可实现液压驱动单腿机器人持续稳定的竖直跳跃，为足式机器人动态步态行走控制研究提供参考。 关键词：弹簧倒立摆；单腿机器人；液压驱动；竖直跳跃 中图分类号：TP242 文献标志码：A 文章编号：1672−7207(2018)01−0072−08 Vertical hopping control of hydraulically actuated single-legged robot based on SLIP CHEN Zhiwei, JIN Bo, ZHU Shiqiang, PANG Yuntian, HUANG Hanlin, CHEN Gang (State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China) Abstract: For the vertical dynamic hopping control of hydraulically actuated legged robot, a control strategy based on the vertical hopping dynamics of SLIP (spring loaded inverted pendulum) was presented. The vertical hopping dynamics of SLIP was analyzed and the motion trajectory of its CoM (center of mass) was obtained by solving the differential equation of its dynamics. The motion trajectory of articulated single-legged robot’s hip was mapped to that of SLIP’s CoM. Then the joint motion trajectory, which drove the robot’s joint motion, was obtained by inverse kinematics of robot. Furthermore, by establishing the vertical hopping dyna