具有柔性脊椎的四足机器人奔跑运动分析

doi:10.12068/j.issn.1005-3026.2020.01.020

东北大学学报:自然科学版 ›› 2020, Vol. 41 ›› Issue (1): 113-118.DOI: 10.12068/j.issn.1005-3026.2020.01.020

具有柔性脊椎的四足机器人奔跑运动分析

马宗利^1,2，马庆营^1,2，吕荣基^1,2，王建明^1,2

(1.山东大学高效洁净机械制造教育部重点实验室，山东济南250061;2.山东大学机械工程国家级实验教学示范中心，山东济南250061)

收稿日期:2019-03-04 修回日期:2019-03-04 出版日期:2020-01-15 发布日期:2020-02-01
通讯作者: 马宗利
作者简介:马宗利(1967-)，男，山东青岛人，山东大学副教授；王建明(1962-)，男，山东济南人，山东大学教授.
基金资助:
国家自然科学基金资助项目(51375126)；山东省自然科学基金资助项目(ZR2017BEE018).

Running Analysis of Quadruped Robot with Flexible Spine

MA Zong-li^1,2， MA Qing-ying^1,2， LYU Rong-ji^1,2， WANG Jian-ming^1,2

1. Key Laboratory of High-Efficiency and Clean Mechanical Manufacture， Ministry of Education， Shandong University， Jinan 250061，China; 2. National Engineering Experimental Teaching Demonstration Center of Mechanical Engineering， Shandong University， Jinan 250061， China.

Received:2019-03-04 Revised:2019-03-04 Online:2020-01-15 Published:2020-02-01
Contact: WANG Jian-ming
About author:-
Supported by:
-

摘要/Abstract

摘要： 为了提高四足机器人的奔跑性能，设计了一种具有柔性脊椎的四足机器人.该柔性脊椎由两个平行橡胶棒和一个驱动液压缸组成，通过控制驱动液压缸的伸缩可使两个平行橡胶棒实现上下弯曲.分析了该四足机器人的柔性脊椎对奔跑步长的影响.基于Hopf模型的CPG控制方法，推导了髋关节和膝关节的关节驱动曲线幅值的表达式，并通过网络拓扑结构的重建将脊椎驱动信号与各腿部关节驱动信号进行耦合.最后利用Adams和MATLAB/Simulink对四足机器人进行了bound步态仿真，仿真表明具有柔性脊椎的四足机器人奔跑性能显著提高.

关键词: 四足机器人, 柔性脊椎, Hopf模型, CPG, bound步态

Abstract: In order to improve the running performance of quadruped robot， a quadruped robot with flexible spine was designed. The flexible spine was composed of two parallel rubber rods and a driving hydraulic cylinder. By controlling the expansion and contraction of the driving hydraulic cylinder， the two parallel rubber rods can be bent up and down. The influence of the flexible spine of the quadruped robot on step length was analyzed. Based on a CPG control method of the Hopf model， the expressions of the amplitude of the joint drive curve of the hip joint and the knee joint were derived. Meanwhile， through the reconstruction of the network topology， the spine drive signal was coupled with the joint drive signal of each leg.Finally， the bound gait simulation of the quadruped robot was done by using the Adams and MATLAB/Simulink softwares. The simulation results show that the running performance of the quadruped robot with flexible spine is obviously improved.

Key words: quadruped robot, flexible spine, Hopf model, CPG(central pattern generator), bound gait

中图分类号:

TP242

马宗利，马庆营，吕荣基，王建明. 具有柔性脊椎的四足机器人奔跑运动分析[J]. 东北大学学报:自然科学版, 2020, 41(1): 113-118.

MA Zong-li， MA Qing-ying， LYU Rong-ji， WANG Jian-ming. Running Analysis of Quadruped Robot with Flexible Spine[J]. Journal of Northeastern University Natural Science, 2020, 41(1): 113-118.

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具有柔性脊椎的四足机器人奔跑运动分析

Running Analysis of Quadruped Robot with Flexible Spine

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