空间控制技术与应用2018，Vol.44Issue(1)：56-61,6.DOI:10.3969/j.issn.1674-1579.2018.01.008
基于输入解耦特征模型的四足机器人运动控制
Locomotion Control of Quadruped Robot Based on MIMO Characteristic Model with Input Decoupling
摘要
Abstract
The problems of the quadruped robot joint control and turning gait planning are researched in this paper.Firstly,the single-leg dynamic model of quadruped robot is established.Its multi-input multioutput (MIMO),time-varying,coupled and nonlinear characteristics are analyzed.A MIMO characteristic model with input decoupling is derived.A controller,which combines MIMO golden-section adaptive control law and differential control law,is designed for the model.Secondly,a turning gait is proposed via modifying the step lengths of the left and right legs respectively.Furthermore,the relationship between the step length correction and the turning radius is analyzed.Finally,the virtual prototype technology is used to simulate the straight and turning gaits of the robot under zero load and 50kg load respectively.The simulation results verify the effectiveness of the proposed method.关键词
四足机器人/特征模型/黄金分割自适应控制/对角小跑步态Key words
quadruped robot/characteristic model/golden section adaptive control/trotting gait分类
信息技术与安全科学引用本文复制引用
张世俊..基于输入解耦特征模型的四足机器人运动控制[J].空间控制技术与应用,2018,44(1):56-61,6.基金项目
国家自然科学基金重点资助项目(61333008).Supported by State Key Program of National Natural Science of China (61333008). （61333008）
