福州大学学报（自然科学版）2026，Vol.54Issue(2)：162-170,9.DOI:10.7631/issn.1000-2243.25145
磁流变阻尼器的液压足式机器人柔顺着陆控制
Compliant landing control of hydraulic legged robot with magnetorheological damper
摘要
Abstract
Aiming at the problem that the landing impact of the robot foot is easy to cause the vibration of the fuselage and damage the parts,an impact-resistance design and compliance control methods based on the high power density and fast response ability of the magnetorheological damper are proposed.These measures aim to suppress the landing impact and improve system reliability.Based on the issues of insufficient impact resistance devices and low damping in hydraulic limb-leg units,a multi-stage channel magnetorheological damper with a large weight ratio is designed and connected in series with a hydraulic cylinder to form a hydraulic damping actuator(HDA).This structure can improve the impact resistance of the hydraulic actuator.Then the mechanical properties of the HDA are tested using a universal testing machine,and a dynamic model of the HDA is established.The single-leg drop model of the hydraulic mechanical leg is designed,and the compliant landing control strategy is proposed.Finally,the experimental results show that the compliant landing ability of the hydraulic limb unit is significantly improved.关键词
液压足式机器人/磁流变阻尼器/液压阻尼作动器/动力学模型/柔顺着陆Key words
hydraulic legged robot/magnetorheological damper/hydraulic damping actuator/dynamic model/compliant landing分类
信息技术与安全科学引用本文复制引用
杨坤全,郑志坚,马佰周,付云峰,黄惠..磁流变阻尼器的液压足式机器人柔顺着陆控制[J].福州大学学报（自然科学版）,2026,54(2):162-170,9.基金项目
国家自然科学青年基金资助项目(52105053) （52105053）
流体动力与机电系统国家重点实验室开放基金资助项目(GZKF-202114) （GZKF-202114）
漳州职业技术学院智能装备与关键技术科研创新团队项目(zzyt23003) （zzyt23003）
