论文针对仿生六足机器人运动问题,提出了一种基于虚拟模型控制(Virtual Model Control,VMC)的简单直观的运动控制方法.在VMC框架中,一系列虚拟原件安装在机器人关节上,以产生相应的虚拟力.将机器人腿的运动模式分为站立相和摆动相两个阶段.站立相中,VMC被用于控制机器人躯干姿态,包括躯干高度和欧拉角;摆动相中,VMC为摆动腿提供控制,使其遵循期望的轨迹.通过状态机实现机器人腿状态切换和运动配合.仿真结果表明,设计的控制器可以实现六足机器人三角步态稳定行走.
Virtual Model Control of Bionic Hexapod Robot
Aiming at the motion problem of the bionic hexapod robot,this paper proposes a simple and intuitive motion con-trol method based on Virtual Model Control(VMC).In the VMC framework,a series of virtual elements are installed on the robot joints to generate corresponding virtual forces.The motion mode of the robot legs is divided into two phases,the stance phase and the swing phase.In the stance phase,VMC is used to control the posture of the robot's torso,including the height of the torso and Euler angle.In the swing phase,VMC provides control for the swinging legs to follow the desired trajectory.The robot leg state switching and motion coordination are realized through the state machine.The simulation results show that the designed controller can realize the hexapod robot's tripod gait walking stably.
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