机电工程技术2024，Vol.53Issue(5)：122-128,7.DOI:10.3969/j.issn.1009-9492.2024.05.027
基于模型预测控制的四足机器人面向复杂地形自适应调整算法与实现
Adaptive Adjustment Algorithm and Implementation of Quadruped Robot for Complex Terrain Based on Model Predictive Control
余捷 1刘绪清 1于超 1杨波1
作者信息
- 1. 中海油能源发展股份有限公司采油服务分公司,天津 300452
- 折叠
摘要
Abstract
In order to solve the problem of instability of the fuselage of the quadruped robot due to external factors such as wave fluctuations during the inspection of the FPSO at sea,and to realize the adaptive and stable walking of the quadruped robot in the presence of environmental interference,based on the use of IMU data,and a pose closed-loop control strategy based on model predictive control is designed.The overall coordinate system of the robot is established by kinematics modeling and the introduction of the attitude matrix to realize the pose control and coordinate mapping of the robot;the attitude parameters of the robot during motion are measured by the inertial measurement unit(IMU),and the torso based on the model predictive control is designed.The attitude closed-loop control adjustment algorithm realizes the adaptive adjustment of the torso attitude of the robot in the process of environmental interference.In the simulation environment,laboratory environment and field environment,the feasibility and effectiveness of the proposed algorithm are verified.Experimental results show that the proposed closed-loop control strategy improves the stability of the robot in fluctuating environments,and realizes the adaptive attitude adjustment of the quadruped robot.关键词
四足机器人/FPSO/模型预测控制/环境干扰/自适应姿态调整Key words
quadruped robot/FPSO/model predictive control/environmental disturbance/adaptive attitude adjustment分类
信息技术与安全科学引用本文复制引用
余捷,刘绪清,于超,杨波..基于模型预测控制的四足机器人面向复杂地形自适应调整算法与实现[J].机电工程技术,2024,53(5):122-128,7.
