【作者】 李宇； 罗晶； 曾超； 齐雯； 杨辰光；

【Author】 Jing Luo;Yu Li;Chao Zeng;Wen Qi;Chenguang Yang;Wuhan University of Technology;University of Hamburg;South China University of Technology;

【机构】 武汉理工大学； 汉堡大学； 华南理工大学；

【摘要】 为满足双足轮腿复合机器人在复杂地面柔顺、平稳运动控制需求,本文提出融合串级PID和虚拟模型控制的方法,分别对机器人轮腿与机身进行柔顺控制和姿态控制,实现双足轮腿复合机器人的稳定行走;同时,本文采用虚拟模型控制,结合冲击控制策略,提出机器人抗竖直方向冲击方法,保证双足轮腿复合机器人在不同地面运动中受竖直方向冲击干扰后,能够保持平衡并快速恢复运动状态;最后,仿真结果验证了所提控制方法的有效性。更多还原

【Abstract】 In order to meet the requirements of flexible and stable motion control of the biped wheel leg composite robot on complex ground,this paper proposes a method that combines cascade PID and virtual model control to perform compliance control and posture control on the robot wheel leg and the fuselage,respectively,to achieve stable walking of the biped wheel leg composite robot;In addition,this paper adopts virtual model control combined with impact control strategies to propose a method for robot anti vertical impact,which ensures that the biped wheel leg composite robot can maintain balance and quickly recover its motion state after being disturbed by vertical impact in different ground motions;Finally,simulation results verify the effectiveness of the proposed control method.更多还原