机电工程技术2025，Vol.54Issue(5)：40-45,64,7.DOI:10.3969/j.issn.1009-9492.2024.00141
基于VMC的四足机器人稳定行走控制
Stable Walking Control of Quadruped Robot Based on VMC
摘要
Abstract
In recent years,biomimetic foot robot in the field of mobile robot has become a research hotspot.Among them,quadruped robot are widely studied and applied because of its fast-moving speed and flexible action.However,while realizing that the foot robot can walk,there are still problems in the stability and heading control of the whole robot body due to the phenomena such as foot skidding and inconsistent foot speed.Relying on kinematics alone for position and trajectory control and optimization does not work well.To solve this problem,the virtual model control method is used to simplify the motion model of the quadruped robot.At the same time,the position and attitude transformation instruction are converted into the torque instruction of the leg joint to realize the whole machine control.The variation of the foot-end trajectory,yaw distance and center of mass height of the airframe is explored under different damping and stiffness coefficients,and the yaw displacement and yaw angle of the airframe are analyzed.Through calculation and simulation analysis,under the condition of reasonable stiffness coefficient and damping coefficient,the travel and yaw distance and foot trajectory of the robot are improved,and the heading and stability of the fuselage is also greatly improved.关键词
四足机器人/虚拟模型控制/机身航向/稳定行走控制Key words
quadruped robot/virtual model control/airframe heading/stabilized walking control分类
信息技术与安全科学引用本文复制引用
刘畅,陈腾飞,薛晨慷,周枫林..基于VMC的四足机器人稳定行走控制[J].机电工程技术,2025,54(5):40-45,64,7.基金项目
湖南省自然科学基金资助项目(2021JJ30211,2021JJ50043) （2021JJ30211,2021JJ50043）
