基于带反馈Hopf振荡器的六足机器人斜坡步态发生器设计

doi:10.3901/JME.2018.21.041

机械工程学报 ›› 2018, Vol. 54 ›› Issue (21): 41-48.doi: 10.3901/JME.2018.21.041

基于带反馈Hopf振荡器的六足机器人斜坡步态发生器设计

杨雪锋, 郭振武, 王斌锐, 王凌, 金英连

中国计量大学机电工程学院杭州 310018

收稿日期:2017-11-19 修回日期:2018-04-02 出版日期:2018-11-05 发布日期:2018-11-05
通讯作者: 王斌锐(通信作者),男,1978年出生,博士,教授。主要研究方向为仿生机器人及其智能控制。E-mail:wangbinrui@163.com
作者简介:杨雪锋,男,1992年出生。主要研究方向为仿生机器人运动控制。E-mail:yangxfwork@163.com
基金资助:
国家自然科学基金资助项目（51575503）。

Gait Generator of Hexapod Robot on Slope Terrain Based on Hopf Oscillator with Feedback

YANG Xuefeng, GUO Zhenwu, WANG Binrui, WANG Ling, JIN Yinglian

College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018

Received:2017-11-19 Revised:2018-04-02 Online:2018-11-05 Published:2018-11-05

摘要/Abstract

摘要： 为了提高六足机器人斜坡运动的稳定性，基于三支撑足步态，分析六足机器人的斜坡运动，得到斜坡运动静态稳定裕度与躯体俯仰角的定性关系；研究带反馈Hopf振荡器的输出特性与收敛系数、反馈量之间的关系，并设计基于带反馈Hopf振荡器的单腿三关节信号和斜坡步态发生器模型；确定收敛系数的组合，并引入躯体俯仰角构造反馈信号，实现在只改变膝关节摆角而不影响步态其他特性的情况下提高六足机器人斜坡运动的稳定性；搭建Matlab-ADAMS联合仿真平台与实物样机进行验证。仿真表明：与Hopf模型相比，基于带反馈Hopf模型六足机器人上12°斜坡稳定裕度提高6.3%，下12°斜坡稳定裕度提高7.2%；试验表明：在12°斜坡上前进1 m时，基于Hopf模型的六足机器人向左偏移0.3 m，基于带反馈Hopf模型的六足机器人向左偏移0.05 m，稳定裕度显著提高。

关键词: Matlab-ADAMS联合仿真, 带反馈Hopf振荡器, 六足机器人, 稳定裕度, 斜坡步态

Abstract: To improve the walking stability of the hexapod robot on slope, based on the tripod gait the walking stability of hexapod robot on slope terrain is analyzed, and the relationship between static stability margin and pitch angle of body is acquired. The relationship between the output characters of Hopf oscillator and the convergence coefficient, variable feedback are studied, joint signals generater of the single leg and the coupling model between legs are designed based on feedback hopf model. Choosing the group of convergence coefficient, and bringing in the pitch angle to construct feedback value, in order to improve the stability of hexapod robot's walking on slope terrain just by changing the knee angle. Union simulation platform of Matlab-ADAMS and physical prototype for testing are constructed. The simulation result is that the stability margin of walking up 12° slope terrain is increased by 6.3 percent and the SM of walking down 12° slope terrain is increased by 7.2 percent compared with the Hopf oscillator. The experiment result is that at the same condition of walking 1 meter, the offset to the left is 0.3 meter under Hopf model, the offset to the left is 0.05 meter under feedback Hopf model. The stability margin improves observably.

Key words: feedback Hopf oscillator, hexapod robot, Matlab-ADAMS co-simulation, slope gait, static stability margin

中图分类号:

TP242

杨雪锋, 郭振武, 王斌锐, 王凌, 金英连. 基于带反馈Hopf振荡器的六足机器人斜坡步态发生器设计[J]. 机械工程学报, 2018, 54(21): 41-48.

YANG Xuefeng, GUO Zhenwu, WANG Binrui, WANG Ling, JIN Yinglian. Gait Generator of Hexapod Robot on Slope Terrain Based on Hopf Oscillator with Feedback[J]. Journal of Mechanical Engineering, 2018, 54(21): 41-48.

参考文献

[1] IJSPEERT A J. Central pattern generators for locomotion control in animals:A review[J]. Neural Networks,2008,21(4):642-653.
[2] 李满宏,张明路,张建华,等. 基于离散化的六足机器人自由步态生成算法[J]. 机械工程学报,2016,52(3):18-25. LI Manhong,ZHANG Minglu,ZHANG Jianhua, et al. Free gait generation algorithm for a hexapod robot based on discretization[J]. Journal of Mechanical Engineering,2016,52(3):18-25.
[3] 高琴,王哲龙,赵红宇,等. 基于Hopf振荡器实现的蛇形机器人的步态控制[J]. 机器人,2014(6):688-696. GAO Qin,WANG Zhelong,ZHAO Hongyu,et al. Gait control for a snake robot based on Hopf oscillator model[J]. Robot,2014(6):688-696.
[4] CHEN W H,LIU T,WANG J H,et al. Sensor signal processing and omnidirectional locomotion control of a bio-inspired hexapod robot[J]. Journal of Zhejiang University,2015,49(3):430-438.
[5] 唐超权,马书根,李斌,等. 基于神经步进激励机制的蛇形机器人环境自适应仿生控制策[J]. 机械工程学报,2013,49(1):53-62. TANG Chaoquan,MA Shugen,LI Bin,et al. Self-adaptable biomimetic control strategy for snake robots based on neural stepping stimulation mechanism[J]. Journal of Mechanical Engineering,2013,49(1):53-62.
[6] 任杰,徐海东,干苏,等. 基于Hopf振荡器的六足机器人步态CPG模型设计[J]. 智能系统学报,2016,11(5):627-634. REN Jie,XU Haidong,GAN Su,et al. CPG model design based on hopf oscillator for hexapod robots gait[J]. CAAI Transaction on Intelligent System,2016,11(5):627-634.
[7] XU Y,GAO F,PAN Y,et al. Method for six-legged robot stepping on obstacles by indirect force estimation[J]. Chinese Journal of Mechanical Engineering,2016,29(4):1-11.
[8] 孟健,李贻斌,柴汇,等. 连续不规则台阶环境四足机器人步态规划与控制[J]. 机器人,2015(1):85-93. MENG Jian,LI Yibin,CHAI Hui,et al. Gait planning and control of quadruped robots in continuous irregular steps environment[J]. Robot,2015(1):85-93.
[9] ROENNAU A,HEPPNER G,NOWICKI M,et al. Reactive posture behaviors for stable legged locomotion over steep inclines and large obstacles[C]//IEEE/RSJ International Conference on Intelligent Robot and Systems,Septemper 14-18,2014,Chicago. IEEE,2014:4888-4894.
[10] TERRYN R,FLAMAND S,SALDIEN J,et al. Innovative design of a hexapod scorpion through digital production techniques[C]//Proceedings of the 19th International Conference on CLAWAR,Septemper 12-14,2016,London. Singapore:World Scientific,2016:267-277.
[11] CHUNG H Y,HOU C C,HSU S Y. A CPG-inspired controller for a hexapod robot with adaptive walking[C]//International Automatic Control Conference,Nov. 26-28,2014,Taiwan,China. IEEE,2014:117-121.
[12] CHEN W H,REN G J,WANG J H,et al. An adaptive locomotion controller for a hexapod robot:CPG,kinematics and force feedback[J]. Science China Information Sciences,2014,57(11):1-18.
[13] GIRAU B,TORRES-HUITAIL C,BARRON-ZAMBRANO J H. Perception-driven adaptive CPG-based locomotion for hexapod robots[J]. Neurocomputing,2015,170(25):63-78.
[14] 郑浩峻,张秀丽. 足式机器人生物控制方法与应用[M]. 北京:清华大学出版社,2011. ZHENG Haojun,ZHANG Xiuli. Biologically-inspired motion control theory and its application for a legged-robot[M]. Beijing:Tsinghua University Press,2011.
[15] AGHELI M,NESTINGER S S. Force-based stability margin for multi-legged robots[J]. Robotics & Autonomous Systems,2016(83):138-149.
[16] 葛卓,罗庆生,贾燕,等. 基于生物反射模型的四足机器人坡面运动控制与越障研究[J]. 东南大学学报,2017,47(4):697-702. GE Zhuo,LUO Qingsheng,JIA Yan,et al. Study on the motion control and the obstacle of the four-legged robot slope based on the biological reflection model[J]. Journal of Southeast University,2017,47(4):697-702.

基于带反馈Hopf振荡器的六足机器人斜坡步态发生器设计

Gait Generator of Hexapod Robot on Slope Terrain Based on Hopf Oscillator with Feedback

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 9

编辑推荐

Metrics

本文评价

[1]	李满宏, 张明路, 张建华, 田颖, 马艳悦. 基于增强学习的六足机器人自由步态规划[J]. 机械工程学报, 2019, 55(5): 36-44.
[2]	刘冬琛, 王军政, 汪首坤, 彭辉. 基于速度矢量的电动并联式轮足机器人全方位步态切换方法[J]. 机械工程学报, 2019, 55(1): 17-24.
[3]	李满宏, 张明路, 张建华, 张小俊. 基于离散化的六足机器人自由步态生成算法[J]. 机械工程学报, 2016, 52(3): 18-25.
[4]	刘逸群, 邓宗全, 刘振, 丁亮, 高海波, 李宇超. 液压驱动六足机器人一种低冲击运动规划方法[J]. 机械工程学报, 2015, 51(3): 10-17.
[5]	庄红超;高海波;邓宗全;丁亮;刘振. 电驱动重载六足机器人关节转速分析方法[J]. , 2013, 49(23): 44-52.
[6]	李银山;陈予恕;薛禹胜. 非线性油膜力轴承上不平衡弹性转子的稳定裕度[J]. , 2002, 38(9): 27-32.
[7]	汪劲松;张江红;冯之敬;张伯鹏. 五足步行机器人步态研究[J]. , 1997, 33(4): 56-64.
[8]	虞烈;谢友柏;朱均;丘大谋. 二阶力学系统的稳定裕度及广义能量判据[J]. , 1988, 24(4): 92-97.
[9]	高志恒;邓政端;李代德;郭伟. 低噪声溢流阀的研究[J]. , 1988, 24(2): 29-39.