基于输入解耦特征模型的四足机器人运动控制

摘要： 针对四足机器人腿部关节控制和转弯步态规划问题，建立四足机器人单腿动力学模型，分析其多输入多输出、时变、耦合和非线性等特性，建立并推导一种具有输入解耦形式的多输入输出特征模型；在此基础上设计由多变量黄金分割自适应控制律和微分控制律组成的控制器；其次提出一种对角转弯步态，通过修正左右腿的迈步步长实现机器人的转弯，进一步分析步长修正量与转弯半径的关系；最后通过虚拟样机技术，分别进行机器人零负载和50 kg负载情况下的直行和转弯步态仿真，仿真结果验证所提方法的有效性.

Locomotion Control of Quadruped Robot Based on MIMO Characteristic Model with Input Decoupling

Abstract：The problems of the quadruped robot joint control and turning gait planning are researched in this paper. Firstly, the single leg dynamic model of quadruped robot is established. Its multi input multi output (MIMO), time varying, coupled and nonlinear characteristics are analyzed. A MIMO characteristic model with input decoupling is derived. A controller, which combines MIMO golden section adaptive control law and differential control law, is designed for the model. Secondly, a turning gait is proposed via modifying the step lengths of the left and right legs respectively. Furthermore, the relationship between the step length correction and the turning radius is analyzed. Finally, the virtual prototype technology is used to simulate the straight and turning gaits of the robot under zero load and 50kg load respectively. The simulation results verify the effectiveness of the proposed method.