面向未知复杂地形的四足机器人运动规划方法

doi:10.3901/JME.2020.02.210

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

扫码分享

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. 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 Qiuguo^1,2

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/Abstract

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

中图分类号:

TG156

周坤, 李川, 李超, 朱秋国. 面向未知复杂地形的四足机器人运动规划方法[J]. 机械工程学报, 2020, 56(2): 210-219.

ZHOU Kun, LI Chuan, LI Chao, ZHU Qiuguo. Motion Planning Method for Quadruped Robots Walking on Unknown Rough Terrain[J]. Journal of Mechanical Engineering, 2020, 56(2): 210-219.

参考文献

[1] RAIBERT M H. Legged robots that balance[M]. Cambridge:MIT Press,1986.
[2] BUEHLER M,PLAYTER R,RAIBERT M. Robots step outside[C]//International Symposium on Adaptive Motion of Animals and Machines. Tokyo,Japan:Springer-Verlag,2005:1-4.
[3] RAIBERT M,BLANKESPOOR K,NELSON G,et al. BigDog,the rough-terrain quadruped robot[C]//Proceedings of the 17th International Federation of Automation Control,Amsterdam,Netherlands:Elsevier,2008:10822-10825.
[4] McGHEE R B. Finite state control of quadruped locomotion[J]. Simulation,1967,9(3):135-140.
[5] McGHEE R B,FRANK A A. On the stability properties of quadruped creeping gaits[J]. Mathematical Biosciences,1968,3:331-351.
[6] REBULA J R,NEUHAUS P D,BONNLANDER B V,et al. A controller for the littledog quadruped walking on rough terrain[C]//IEEE International Conference on Robotics and Automation. Piscataway,USA:IEEE,2007:1467-1473.
[7] PONGAS D,MISTRY M,SCHAAL S. A robust quadruped walking gait for traversing rough terrain[C]//IEEE International Conference on Robotics and Automation. Piscataway,USA:IEEE,2007:1474-1479.
[8] KOLTER J Z,RODGERS M P,NG A Y. A control architecture for quadruped locomotion over rough terrain[C]//IEEE International Conference on Robotics and Automation. Piscataway,USA:IEEE,2008:811-818.
[9] BUCHLI J,KALAKRISHNAN M,MISTRY M,et al. Compliant quadruped locomotion over rough terrain[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway,USA:IEEE,2009:814-820.
[10] NEUHAUS P D,PRATT J E,JOHNSON M J. Comprehensive summary of the institute for human and machine cognition's experience with LittleDog[J]. The International Journal of Robotics Research,2011,30(2):216-235.
[11] KALAKRISHNAN M,BUCHLI J,PASTOR P,et al. Learning,planning,and control for quadruped locomotion over challenging terrain[J]. The International Journal of Robotics Research,2011,30(2):236-258.
[12] ZUCKER M,RATLIFF N,STOLLE M,et al. Optimization and learning for rough terrain legged locomotion[J]. The International Journal of Robotics Research,2011,30(2):175-191.
[13] FOCCHI M,BARASUOL V,HAVOUTIS I,et al. Local reflex generation for obstacle negotiation in quadrupedal locomotion[C]//IEEE International Conference on Climbing Walking Robots. Singapore:World Scientific Publishing,2013:443-450.
[14] GEHRING C,COROS S,HUTTER M,et al. Control of dynamic gaits for a quadrupedal robot[C]//IEEE International Conference on Robotics and Automation. Piscataway,USA:IEEE,2013:3287-3292.
[15] 张国腾,荣学文,李贻斌,等. 基于虚拟模型的四足机器人对角小跑步态控制方法[J]. 机器人,2016,38(1):64-74. ZHANG Guoteng,RONG Xuewen,LI Yibin,et al. Control of the quadrupedal trotting based on virtual model[J]. Robot,2016,38(1):64-74.
[16] VUKOBRATOVIĆ M,STEPANENKO J. On the stability of anthropomorphic systems[J]. Mathematical Biosciences,1972,15(1-2):1-37.
[17] KAJITA S,KANEHIRO F,KANEKO K,et al. Biped walking pattern generation by using preview control of zero-moment point[C]//IEEE International Conference on Robotics and Automation. Piscataway,USA:IEEE,2003:1620-1626.

面向未知复杂地形的四足机器人运动规划方法

Motion Planning Method for Quadruped Robots Walking on Unknown Rough Terrain

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	纵怀志, 艾吉昆, 张军辉, 江磊, 谭树杰, 刘余贤, 苏琦, 徐兵. 基于拓扑优化和晶格填充的四足机器人肢腿单元轻量化设计[J]. 机械工程学报, 2024, 60(4): 420-429.
[2]	杜国锋, 赵萌, 武建昫, 张东. 基于视觉的闭链多足机器人自主运动控制方法[J]. 机械工程学报, 2024, 60(19): 62-70.
[3]	关海杰, 王博洋, 龚建伟, 陈慧岩. 面向异构车辆的统一运动规划方法[J]. 机械工程学报, 2024, 60(18): 288-298.
[4]	王翔宇, 任帆, 刘冲, 许思昂, 王龙昕, 方勇纯, 于宁波, 韩建达. 面向NOTES手术的软镜操作机器人技术进展[J]. 机械工程学报, 2024, 60(17): 40-62.
[5]	高镇海, 于桐, 孙天骏. 考虑社会性行为的自动驾驶运动规划研究综述[J]. 机械工程学报, 2024, 60(10): 112-128.
[6]	郄天琪, 王伟达, 杨超, 李颖, 项昌乐. 面向分体式飞行汽车自主对接的自动驾驶底盘运动规划方法研究[J]. 机械工程学报, 2024, 60(10): 235-244.
[7]	赵锦涛, 李亮, 薛仲瑾, 张志煌. 基于混合A星的停车场内巡航分层运动规划方法[J]. 机械工程学报, 2023, 59(24): 290-298.
[8]	田大可, 郭振伟, 金路, 范小东, 刘荣强. 模块化可展天线机构展开动力学建模与运动规划[J]. 机械工程学报, 2023, 59(17): 56-66.
[9]	钟沛成, 骆德渊, 庞明君. 基于深度强化学习的四足机器人跟随策略研究及系统实现[J]. 机械工程学报, 2023, 59(13): 79-88.
[10]	陈晋市, 张淼淼, 毕秋实, 李永奇, 霍东阳, 齐洪阳. 面向自主作业的挖掘机多目标最优挖掘运动规划[J]. 机械工程学报, 2022, 58(7): 237-245.
[11]	阳鑫, 唐小林, 杨凯, 徐正平, 胡晓松. 极限工况下无人驾驶车辆运动规划策略研究[J]. 机械工程学报, 2022, 58(22): 349-359.
[12]	赵子铭, 李晔卓, 姚燕安, 李锐明, 张倩倩. 6-URU支链四面体移动机构的越障步态规划[J]. 机械工程学报, 2021, 57(23): 85-96.
[13]	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.
[14]	白有盾, 陈新, 杨志军. 考虑阻尼衰减的点位操作时间最优运动规划[J]. 机械工程学报, 2019, 55(5): 104-112.
[15]	关英姿, 刘文旭, 焉宁, 宋春林. 空间多机器人协同运动规划研究[J]. 机械工程学报, 2019, 55(12): 37-43.