Fang Lizhou, Zhang Junhui, Zong Huaizhi, Wang Ximeng, Zhang Kun, Shen Jun, Lu Zhenyu
Zhejiang University, Hangzhou, Zhejiang Province, China.
Nanchang University, Nanchang, Jiangxi Province, China.
HardwareX. 2023 Jan 3;13:e00393. doi: 10.1016/j.ohx.2022.e00393. eCollection 2023 Mar.
Nowadays, hydraulic quadruped robot shows high power density, good impact resistance and robustness in the research. The controller is the key to realize these features. This paper shows the design of an open-source single-leg controller for the hydraulic quadruped robot Spurlos using a distributed control scheme. The single-leg system of the hydraulic quadruped robot Spurlos contains three angle encoders, three servo valves and six pressure sensors, which has the same components as most single-leg systems. Through the chips designed in the controller, the signal can be received from the encoders and the sensors, meanwhile the signal can be delivered to the servo valves. The software part of the controller adopts the MBD (Model-Based Design) method, which can greatly improve the development efficiency. According to the experiments, the controller design is reasonable, stable operation, and can satisfy the requirements of the hydraulic quadruped robot for leg motion control. The controller designed in this paper provides a solution to the problem that there is no ready-made control board for hydraulic quadruped robot which have three degrees of freedom for each leg. It enables the control researches for hydraulic quadruped robots to be more easily implemented.
如今，在研究中，液压四足机器人展现出高功率密度、良好的抗冲击性和鲁棒性。控制器是实现这些特性的关键。本文展示了一种针对液压四足机器人Spurlos的开源单腿控制器的设计，该设计采用分布式控制方案。液压四足机器人Spurlos的单腿系统包含三个角度编码器、三个伺服阀和六个压力传感器，其组件与大多数单腿系统相同。通过控制器中设计的芯片，可以从编码器和传感器接收信号，同时将信号传送到伺服阀。控制器的软件部分采用基于模型的设计（MBD）方法，这可以大大提高开发效率。根据实验，该控制器设计合理、运行稳定，能够满足液压四足机器人腿部运动控制的要求。本文设计的控制器为没有现成的用于每条腿具有三个自由度的液压四足机器人控制板这一问题提供了解决方案。它使液压四足机器人的控制研究更容易实施。
