Wang Lei, Meng Libo, Kang Ru, Liu Botao, Gu Sai, Zhang Zhihao, Meng Fei, Ming Aiguo
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.
Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China.
Cyborg Bionic Syst. 2022 Feb 22;2022:9816495. doi: 10.34133/2022/9816495. eCollection 2022.
In this paper, a parallel quadrupedal robot was designed that is capable of versatile dynamic locomotion and perception-less terrain adaptation. Firstly, a quadrupedal robot with a symmetric legs and a powerful actuator was implemented for highly dynamic movement. Then, a fast and reliable method based on generalized least square was proposed for estimating the terrain parameters by fusing the body, leg, and contact information. On the basis of virtual model control (VMC) with the quadratic program (QP) method, the optimal foot force for terrain adaptation was achieved. Finally, the results obtained by simulation and indoor and outdoor experiments demonstrate that the robot can achieve a robust and versatile dynamic locomotion on uneven terrain, and the rejection of disturbances is reliable, which proves the effectiveness and robustness of this proposed method.
本文设计了一种能够实现多功能动态运动和无感知地形适应的并联四足机器人。首先，实现了一种具有对称腿部和强大执行器的四足机器人，用于进行高动态运动。然后，提出了一种基于广义最小二乘法的快速可靠方法，通过融合机身、腿部和接触信息来估计地形参数。基于采用二次规划（QP）方法的虚拟模型控制（VMC），实现了用于地形适应的最佳足部力。最后，通过仿真以及室内外实验获得的结果表明，该机器人能够在不平坦地形上实现稳健且多功能的动态运动，并且对干扰的抑制可靠，这证明了该方法的有效性和稳健性。
