牵拉人工肌腱式双足机器人矢状面行走控制

doi:10.3901/JME.2024.15.018

机械工程学报 ›› 2024, Vol. 60 ›› Issue (15): 18-27.doi: 10.3901/JME.2024.15.018

扫码分享

牵拉人工肌腱式双足机器人矢状面行走控制

高海波¹, 王圣军¹, 单开正¹, 韩亮亮², 于海涛^1,2

1. 哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨 150080;
2. 中国航天科技集团有限公司空间结构与机构技术实验室上海 201108

收稿日期:2023-08-23 修回日期:2024-01-04 出版日期:2024-08-05 发布日期:2024-09-24
作者简介:高海波，男，1970年出生，博士，教授，博士研究生导师，主要研究方向为宇航空间机构、特种移动机器人。E-mail：gaohaibo@hit.edu.cn
王圣军，男，1992年出生，博士研究生。主要研究方向为足式机器人运动规划与智能控制。E-mail：15B908058@hit.edu.cn
于海涛(通信作者)，男，1984年出生，博士，研究员，博士研究生导师。主要研究方向为仿生移动机理、足式机器人系统设计与运动控制。E-mail：yht@hit.edu.cn
基金资助:
国家自然科学基金(52175011)、中国航天科技集团有限公司空间结构与机构技术实验室开放课题基金(YY-F805202210023)和群体协同与自主实验室开放基金课题(QXZ23013201)资助项目。

Sagittal Walking Control of Biped Robot Equipped with Artificial Tendon

GAO Haibo¹, WANG Shengjun¹, SHAN Kaizheng¹, HAN Liangliang², YU Haitao^1,2

1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080;
2. Space Structure and Mechanism Technology Laboratory, China Aerospace Science and Technology Group Co. Ltd., Shanghai 201108

Received:2023-08-23 Revised:2024-01-04 Online:2024-08-05 Published:2024-09-24

摘要/Abstract

摘要： 针对传统双足机器人刚性支腿结构缺乏弹性元素的局限，提出一种借鉴人体腿-足肌腱功能的人工肌腱牵拉式支腿结构，并搭建了基于五杆拓扑构型的四自由度双足机器人原理样机。建立了基于线性倒立摆(Linear inverted pendulum,LIP)模型的双足机器人行走规划优化范式。提出了基于LIP模型的双足机器人动步态控制器。在摆动相阶段，采用基于贝塞尔曲线的足端轨迹规划及融合模型前馈的PD控制策略。在支撑相阶段，采用足端地面支反力前馈结合机身姿态、高度反馈的控制策略。搭建试验平台对机器人运控算法进行了有效性验证。试验结果表明，双足机器人可实现0.8 m/s (约两倍腿长/s)的稳定行走速度，机身俯仰角度波动可控制在±7°以内，机身高度波动可控制在±4 cm以内。上述研究成果可进一步推广至面向三维空间移动作业的人形机器人系统设计。

关键词: 双足机器人, 人工肌腱, 动步态, 行走控制

Abstract: To overcome the shortage of elastic elements in rigid leg in traditional bipedal robots, a novel leg scheme with artificial tendon inspired from tendon-muscle complex in human’s leg and foot. A 4-DoF biped prototype with five-linkage configuration is also developed. The optimization paradigm of bipedal walking is constructed based on the linear inverted pendulum (LIP). The dynamical walking controller is devised based on the LIP model embodying the swing and the stance part. In swing, a PD control strategy is employed by combining the Bezier spline-based foot trajectory planning and model-based feedforward compensation. In stance, a control strategy with the feedforward of ground reaction force is proposed by integrating the feedback control of body pitch and height. The effectiveness of the proposed algorithm is experimentally validated. Experimental results demonstrate that the bipedal robot achieves stable walking at 0.8 m/s (almost 2 times of leg length per second), and the fluctuations of the body pitch and height are restrained within ±7° and ±4 cm, respectively. The aforementioned contributions can be further extended to the systematic design of humanoids executing mobile manipulation in 3D world.

Key words: biped robot, artificial tendon, dynamical gait, locomotion control

中图分类号:

TP242

高海波, 王圣军, 单开正, 韩亮亮, 于海涛. 牵拉人工肌腱式双足机器人矢状面行走控制[J]. 机械工程学报, 2024, 60(15): 18-27.

GAO Haibo, WANG Shengjun, SHAN Kaizheng, HAN Liangliang, YU Haitao. Sagittal Walking Control of Biped Robot Equipped with Artificial Tendon[J]. Journal of Mechanical Engineering, 2024, 60(15): 18-27.

参考文献

[1] WALDRON K J，VOHNOUT V J，PERY A，et al.Configuration design of the adaptive suspension vehicle[J].International Journal of Robotics Research，1984，3(2):37-48.
[2] HAUSER K，BRETL T，LATOMBE J C，et al.Motion planning for legged robots on varied terrain[J].International Journal of Robotics Research，2008，27(11-12):1325-1349.
[3] BARTSCH S，MANZ M，KAMPMANN P，et al.Development and control of the multi-legged robot mantis[C]//Proceedings of 47st International Symposium on Robotics.VDE，2016:1-8.
[4] RAIBERT M H.Legged robots that balance[M].USA:MIT Press，1986.
[5] 何玉东，王军政，柯贤锋，等.足式机器人的稳定行走[J].机械工程学报，2016，52(21):1-7.HE Yudong，WANG Junzheng，KE Xianfeng，et al.Stable walking for legged robots[J].Journal of Mechanical Engineering，2016，52(21):1-7.
[6] WESTERVELT E R，GRIZZLE J W，CHEVALLEREAU C，et al.Feedback control of dynamic bipedal robot[M].Ann Arbor:CRC Press，2007.
[7] SHANKLIN N C，TUCKER M，DAI M，et al.Learning controller gains on bipedal walking robots via user preferences[C]//2022 International Conference on Robotics and Automation.IEEE，2022:10405-10411.
[8] SCHROEDER T，HOUGHTALING J，WILTS B D.It’s not a bug，it’s feature:functional materials in insects[J].Advanced Materials，2018，30(19):1705322.
[9] KIM M J，WERNER A，LOEFFL F，et al.Passive impedance control of robots with viscoelastic joints via inner-loop torque control[J].IEEE Transactions on Robotics，2022，38(1):584-598.
[10] PARK H W，RAMEZANI A，GRIZZLE J W.A finite-state machine for accommodating unexpected large ground-height variations in bipedal robot walking[J].IEEE Transactions on Robotics，2013，29(2):331-345..
[11] RENJEWSKI D，SPRӦWITZ A，PEEKEMA A，et al.Exciting engineered passive dynamics in a bipedal robot[J].IEEE Transactions on Robotics，2015，31(5):1244-1251.
[12] SPRӦWITZ A B，SARVESTANI A A，SITTI M，et al.BirdBot achieves energy-efficient gait with minimal control using avian-inspired leg clutching[J].Science Robotics，2022，7:eabg4055.
[13] SATO R，HIASA S，WANG L，et al.Vertical jumping by a legged robot with upper and lower leg bi-articular muscle-tendon complexes[J].IEEE Robotics and Automation Letters，2021，6(4):7572-7579.
[14] MILLER A F，FALVEY E，MCCRORY P，et al.Clinical sports anatomy[M].Australia:McGraw-Hill Education Press，2010.
[15] NAPIER C.Science of running[M].USA:DK Press，2020.
[16] 单开正，于海涛，韩亮亮，等.近似直驱双足机器人跳跃运动非线性优化及试验验证[J].机械工程学报，2021，57(13):153-171.SHAN Kaizheng，YU Haitao，HAN Liangliang，et al.Nonlinear optimization and experimental validation of a quasi-direct-drive bipedal robot’s jumping motion[J].Journal of Mechanical Engineering，2021，57(13):153-171.
[17] XIONG X，AMES A D.Orbit characterization，stabilization and composition on 3D under actuated bipedal walking via hybrid passive linear inverted pendulum model learning controller gains on bipedal walking robots via user preferences[C]//2019 IEEE/RSJ International Conference on Intelligent Robots and Systems.IEEE，2019:4644-4651.
[18] KELLY M.An introduction to trajectory optimization:How to do your own direct collocation[J].SIAM Review，2017，59(4):849-904.
[19] SEYFARTH A，GEYER H，HERR H.Swing-leg retraction:A simple control model for stable running[J].Journal of Experimental Biology，2003，206(15):2547-2555.
[20] HUTCHINSON I H.A student’s guide to numerical methods[M].Cambridge:Cambridge University Press，2015.

牵拉人工肌腱式双足机器人矢状面行走控制

Sagittal Walking Control of Biped Robot Equipped with Artificial Tendon

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 4

编辑推荐

Metrics

本文评价

[1]	石照耀, 丁宏钰, 汪文广, 刘益彰, 胡毅森, 鞠笑竹, 张攀. 双足机器人腿部新构型设计与试验研究[J]. 机械工程学报, 2023, 59(1): 103-112.
[2]	单开正, 于海涛, 韩亮亮, 王圣军, 李君, 高海波, 邓宗全. 近似直驱双足机器人跳跃运动非线性优化及试验验证[J]. 机械工程学报, 2021, 57(13): 153-162,171.
[3]	徐林森;魏鲜明;曹凯;梅涛;骆敏舟. 仿生双足水上行走机器人优化设计及控制方法[J]. , 2014, 50(15): 12-18.
[4]	俞志伟;王立权. 双足机器人并联踝关节优化设计[J]. , 2009, 45(11): 52-57.