• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2020, Vol. 56 ›› Issue (2): 210-219.doi: 10.3901/JME.2020.02.210

• 交叉与前沿 • 上一篇    下一篇

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面向未知复杂地形的四足机器人运动规划方法

周坤1, 李川1, 李超1, 朱秋国1,2   

  1. 1. 浙江大学智能系统与控制研究所 杭州 310027;
    2. 浙江大学工业控制技术国家重点实验室 杭州 310027
  • 收稿日期:2018-12-15 修回日期:2019-06-03 出版日期:2020-01-20 发布日期:2020-03-11
  • 通讯作者: 朱秋国(通信作者),男,1982年出生,讲师,硕士研究生导师。主要研究方向为仿生机器人,机器智能。E-mail:qgzhu@zju.edu.cn
  • 作者简介:周坤,男,1992年出生。主要研究方向为四足机器人运动规划与控制。E-mail:zhoukun586@126.com
  • 基金资助:
    国家自然科学基金(51405430,61473258,U150921)和浙江省公益技术(2016C33G2010137)资助项目。

Motion Planning Method for Quadruped Robots Walking on Unknown Rough Terrain

ZHOU Kun1, LI Chuan1, LI Chao1, ZHU Qiuguo1,2   

  1. 1. Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou 310027;
    2. State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou 310027
  • Received:2018-12-15 Revised:2019-06-03 Online:2020-01-20 Published:2020-03-11

摘要: 针对四足机器人在非结构化环境下的自适应稳定行走问题,提出一种面向未知复杂地形的四足机器人运动规划方法。采用爬行步态,基于零力矩点(Zero moment point,ZMP)稳定性判据进行在线轨迹规划。通过摆动腿的落地规划和感知策略估计未知地形的参数,实时调整各支撑腿的长度以控制机器人躯体的位置和姿态与当前地形相匹配,实现四足机器人对于未知地形高度和坡度变化的自适应。试验结果表明,四足机器人能够在满足稳定性的前提下,对未知复杂地形具有良好的适应能力,验证了该方法的有效性与可靠性。

关键词: 四足机器人, 未知复杂地形, 运动规划, 零力矩点

Abstract: To deal with the adaptive and stable walking problem in the unstructured environment for the quadruped robot, a motion planning method faced to the unknown rough terrain is proposed for the quadruped robot. The walk gait is adopted, and the online trajectory planning is carried out based on the stability criterion zero moment point (ZMP). The parameters of the unknown terrain are estimated through the touchdown planning of the swinging leg and the perception strategy. Then, the length of each support leg can be adjusted in real time to control the position and posture of the trunk according to the current terrain, in order that the quadruped robot can adapt to the change of height and slope of the unknown terrain. Experimental results show that the robot can obtain good adaptability to the unknown rough terrain and satisfy the stability, which proves the validity and reliability of the proposed method.

Key words: quadruped robot, unknown rough terrain, motion planning, zero moment point

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