仿生四足机器人步态控制的稳定性研究
Research on stability of gait control for bionic quadruped robots
王火星 1陈明淑 1曹伟景2
作者信息
- 1. 西京学院 电子信息学院,陕西 西安 710123
- 2. 深圳市火狗智能电子科技有限公司,广东 深圳 518100
- 折叠
摘要
仿生四足机器人的步态稳定性主要依靠控制器来控制本体的平衡,以减少重力位移和垂直粗糙度的影响,但仍不能达到理想的步态效果.文章在分析四足机器人动力学模型的基础上,对滑模控制(Sliding Model Control,SMC)算法进行了改进,并将其应用于仿生四足机器人静态姿态平衡控制.与相应实验相比,改进算法消除了滑模控制器本身的振铃现象,提高了仿生四足机器人电机输出转矩的精度和数据传输的实时性,保证了仿生四足机器人的步态控制的稳定性.
Abstract
The gait stability of bionic quadruped robot mainly depends on the controller to control the balance of the robot body to reduce the influence of gravity displacement and vertical roughness,but the robot can not achieve the ideal gait effect.Based on the analysis of quadruped robot dynamics model,SMC algorithm is improved and applied to static attitude balance control of bionic quadruped robot.Compared with the corresponding experiments,the improved algorithm eliminates the ringing phenomenon of sliding model controller itself,improves the accuracy of motor output torque and real-time data transmission of bionic quadruped robot,and ensures the stability of gait control of bionic quadruped robot.
关键词
四足机器人/滑模控制/步态控制Key words
quadruped robot/sliding model control/gait control引用本文复制引用
出版年
2024
NETL
NSTL
万方数据