液压足式机器人关节底层力阻抗特性补偿控制

doi:10.3901/JME.2025.07.294

机械工程学报 ›› 2025, Vol. 61 ›› Issue (7): 294-300.doi: 10.3901/JME.2025.07.294

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液压足式机器人关节底层力阻抗特性补偿控制

俞滨^1,2,3, 何小龙¹, 王源¹, 佘进波¹, 巴凯先^1,2,3

1. 燕山大学机械工程学院秦皇岛 066004;
2. 燕山大学起重机械关键技术全国重点实验室秦皇岛 066004;
3. 燕山大学先进制造成形技术及装备国家地方联合工程研究中心秦皇岛 066004

收稿日期:2024-03-19 修回日期:2024-10-03 发布日期:2025-05-12
作者简介:俞滨，男，1985年出生，博士，教授，博士研究生导师。主要研究方向为液压伺服控制系统。E-mail：yb@ysu.edu.cn
巴凯先(通信作者)，男，1989年出生，博士，教授，博士研究生导师。主要研究方向为足式机器人设计与控制。E-mail：bkx@ysu.edu.cn
基金资助:
国家自然科学基金优秀青年科学基金(52122503)、河北省自然科学基金优秀青年科学基金(E2022203002)、河北省高等学校青年拔尖人才计划(BJK2022060)、燕赵青年科学家项目(E2023203258)和河北省在读研究生创新能力项目(CXZZSS2024026)资助项目。

Joint Low-level Compensation Control of Hydraulic Legged Robot Based On Force Impedance Characteristics

YU Bin^1,2,3, HE Xiaolong¹, WANG Yuan¹, SHE Jinbo¹, BA Kaixian^1,2,3

1. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
2. State Key Laboratory of Crane Technology, Yanshan University, Qinhuangdao 066004;
3. National Engineering Research Center for Local Joint of Advanced Manufacturing Technology and Equipment, Yanshan University, Qinhuangdao 066004

Received:2024-03-19 Revised:2024-10-03 Published:2025-05-12

摘要/Abstract

摘要： 基于力的阻抗控制是液压足式机器人腿部关节常用的底层控制方法之一，其原理是一种双环复合控制，包含力控制内环和阻抗控制外环，已有相关研究主要聚焦于力控内环，而阻抗外环的输出作为力控内环的输入，如能对其特性进行补偿，结合已有相关力控内环控制策略，将进一步提升关节底层控制性能。基于上述背景，针对阻抗控制外环设计了一种阻抗特性补偿器，该控制器考虑了力控内环的强非线性、参数时变性和负载多变性等问题，将外环阻抗特性参数从定常参数变为时变自适应参数来辅助提升整体阻抗控制性能。实验结果表明，该控制器可以基于力的阻抗控制精度并具有良好的多工况适应性，可为液压足式机器人整机控制提供基础。

关键词: 足式机器人, 基于力的阻抗控制, 底层关节控制, 阻抗特性补偿器

Abstract: Force-based impedance control is one of the commonly used low-level control methods for the leg joints of hydraulic legged robots, and its principle is a dual-loop composite control, including force-controlled inner loop and impedance-controlled outer loop, and existing related studies are conducted for the force-controlled inner loop. The output of the impedance outer loop is used as the input of the force-control inner loop, and if the characteristics of the impedance outer loop can be compensated, combined with the relevant force-control inner loop control strategies, the performance of the low-level control of the joint will be further improved. Based on the above background, an impedance characteristic compensator is designed for the impedance-controlled outer loop, which takes into account the strong nonlinearity, time-varying parameter and load variability of the force-controlled inner loop, and changes the parameters of the outer-loop impedance characteristics from constant parameters to time-varying adaptive parameters to assist in improving the overall impedance control performance. The experimental results show that the controller can provide the basis for the control of the whole hydraulic legged robot based on the accuracy of force-based impedance control and has good adaptability to multiple working conditions.

Key words: legged robot, force-based impedance control, joint low-level control, impedance characteristics compensator

中图分类号:

TH137

俞滨, 何小龙, 王源, 佘进波, 巴凯先. 液压足式机器人关节底层力阻抗特性补偿控制[J]. 机械工程学报, 2025, 61(7): 294-300.

YU Bin, HE Xiaolong, WANG Yuan, SHE Jinbo, BA Kaixian. Joint Low-level Compensation Control of Hydraulic Legged Robot Based On Force Impedance Characteristics[J]. Journal of Mechanical Engineering, 2025, 61(7): 294-300.

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液压足式机器人关节底层力阻抗特性补偿控制

Joint Low-level Compensation Control of Hydraulic Legged Robot Based On Force Impedance Characteristics

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