计算机与数字工程2024，Vol.52Issue(1)：271-276,6.DOI:10.3969/j.issn.1672-9722.2024.01.045
仿生六足机器人虚拟模型控制
Virtual Model Control of Bionic Hexapod Robot
摘要
Abstract
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.关键词
仿生六足机器人/虚拟模型控制/站立相/摆动相/三角步态Key words
bionic hexapod robot/VMC/stance phase/swing phase/tripod gait分类
计算机与自动化引用本文复制引用
薛文超,胡立坤..仿生六足机器人虚拟模型控制[J].计算机与数字工程,2024,52(1):271-276,6.基金项目
国家自然科学基金项目(编号:61863002)资助. （编号:61863002）
