中南大学学报（自然科学版）2018，Vol.49Issue(1)：72-79,8.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
Vertical hopping control of hydraulically actuated single-legged robot based on SLIP
摘要
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 dynamics of articulated single-legged robot and hydraulic actuator dynamics, the simulation of vertical hopping was done in the software of MATLAB/Simulink. And meanwhile the vertical hopping experiment was done on robot prototype. The results show that the hydraulically actuated single-legged robot is able to hop continuously and stably with a control strategy based on the vertical hopping dynamics of SLIP, which provides reference for the control of the dynamic gait walking of legged robot.关键词
弹簧倒立摆/单腿机器人/液压驱动/竖直跳跃Key words
SLIP/single-legged robot/hydraulically actuate/vertical hopping分类
信息技术与安全科学引用本文复制引用
陈志伟,金波,朱世强,庞云天,黄翰林,陈刚..基于SLIP模型的液压驱动单腿机器人竖直跳跃控制[J].中南大学学报（自然科学版）,2018,49(1):72-79,8.基金项目
国家自然科学基金创新研究群体科学基金资助项目(51521064) （51521064）
国家自然科学基金资助项目(41506116) （41506116）
浙江省自然科学基金资助项目(LY13E050001) (Project(51521064) supported by Science Fund for Creative Research Groups of National Natural Science foundation of China （LY13E050001）
Project(41506116) supported by the National Natural Science Foundation of China （41506116）
Project(LY13E050001) supported by the Natural Science Foundation of Zhejiang Province) （LY13E050001）
