The adjustment strategy of active variable stiffness leg in the stable transition of quadruped robot on soft and hard ground
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摘要: 四足机器人以动步态在变刚度地面过渡时产生的姿态不稳定问题,提出了一种机器人腿部主动变刚度实时调整策略,该策略根据机器人着地后的机身和腿部的运动状态实时估计出着地腿和地面的耦合刚度,并将前后腿与地面耦合刚度的差值补偿到相应的着地腿上。该策略能够使机器人着地后迅速适应不同刚度特性的地面,特别是地面刚度变化较大的情况,同时能够保证控制性能优于单独通过机身姿态反馈的稳定控制方法。通过搭建Simulink-SimMechanics实验平台对该姿态调整策略进行了仿真验证,结果表明,通过腿部主动变刚度的实时调整,四足机器人能在软硬地面过渡时实现对机身俯仰角和滚转角的补偿修正,证明了控制策略是有效的。Abstract: The problem of posture instability caused by a quadruped robot in the transition process of a dynamic gait on a variable stiffness ground. A real-time adjustment strategy for the active variable stiffness of the robot’s legs is proposed. This strategy is based on the robot’s body and legs after landing on the ground. The motion state estimates the coupling stiffness between the ground leg and the ground in real time, and compensates the difference in the coupling stiffness between the front and rear legs and the ground to the corresponding ground leg. This strategy can make the robot quickly adapt to the ground with different stiffness characteristics after landing, especially when the ground stiffness changes greatly, and at the same time, it can ensure that the control performance is better than the stable control method that uses the body attitude feedback alone. This posture adjustment strategy was simulated and verified by building the Simulink- SimMechanics experimental platform. The results showed that the quadruped robot can realize the pitch and roll angle of the fuselage during the transition between soft and hard ground through the real-time adjustment of the active variable stiffness of the legs. The control strategy proved to be effective.
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