軌道計画に基づく四足ロボットのフライングトロット制御手法
Flying Trot Control Method for Quadruped Robot Based on Trajectory Planning
SLIPモデルに基づくオフライン軌道計画とリアルタイム姿勢・重心制御を組み合わせ、仮想モデル制御で衝撃を緩和することで、四足ロボットの高速フライングトロット走行を実現した。
著者: Hongge Wang, Hui Chai, Bin Chen, Aizhen Xie, Rui Song, Bo Su
分類: cs.RO
原文アブストラクト
An intuitive control method for the flying trot, which combines offline trajectory planning with real-time balance control, is presented. The motion features of running animals in the vertical direction were analysed using the spring-load-inverted-pendulum (SLIP) model, and the foot trajectory of the robot was planned, so the robot could run similar to an animal capable of vertical flight, according to the given height and speed of the trunk. To improve the robustness of running, a posture control method based on a foot acceleration adjustment is proposed. A novel kinematic based CoM observation method and CoM regulation method is present to enhance the stability of locomotion. To reduce the impact force when the robot interacts with the environment, the virtual model control method is used in the control of the foot trajectory to achieve active compliance. By selecting the proper parameters for the virtual model, the oscillation motion of the virtual model and the planning motion of the support foot are synchronized to avoid the large disturbance caused by the oscillation motion of the virtual model in relation to the robot motion. The simulation and experiment using the quadruped robot Billy are reported. In the experiment, the maximum speed of the robot could reach 4.73 times the body length per second, which verified the feasibility of the control method.
