一种稳定姿态行走的四足机器人虚拟力矩控制方法

A Virtual Torque Control Method for Stable Posture Walking in Quadruped Robots

摘要: 文章针对四足机器人在trot步态下如何进行稳定行走这一问题，提出了一种用于四足机器人稳定姿态行走的虚拟力矩控制方法。首先，对四足机器人进行运动学分析并用MATLAB工具箱和Simulink进行仿真验证。之后，用五次多项式来规划足端轨迹并利用蒙特卡洛法和MATLAB工具箱联合选出符合四足机器人行走的步高和步长。再次，将姿态控制策略和虚拟力矩控制策略分别运用到四足机器人的整体结构中和关节角上。最后仿真表明，与开环控制策略相比，本文采用的控制策略使四足机器人在trot步态行走中的俯仰角、横滚角和航偏角的变化范围进一步缩小，稳定性提高明显。

Abstract: This study presents a virtual torque control approach for the stable gait locomotion of a quadruped robot in trotting motion. The investigation commences with a kinematic analysis of the quadruped robot, which is subsequently validated through simulations utilizing MATLAB toolboxes and the Simulink environment. Thereafter, a quintic polynomial is applied to chart the trajectory of the robot’s feet, and the step height and length appropriate for the quadruped robot’s ambulation are determined through an integration of the Monte Carlo method with MATLAB toolboxes. Subsequently, posture control algorithms and virtual torque control algorithms are integrated into the robot’s overall mechanical structure and joint angles, respectively. Ultimately, the simulation outcomes demonstrate that, in comparison with open-loop control strategies, the control strategy implemented in this research substantially diminishes the fluctuation scope of the robot’s pitch, roll, and yaw angles during trotting gait, leading to a significant improvement in stability.