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具有仿生平行躯干的四足机器人的协同运动控制

Coordinated Locomotion Control for a Quadruped Robot with Bionic Parallel Torso.

作者信息

Zhu Yaguang, Cao Ao, He Zhimin, Zhou Mengnan, Li Ruyue

机构信息

Key Laboratory of Road Construction Technology and Equipment, Ministry of Education, Chang'an University, Xi'an 710064, China.

The State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing 400044, China.

出版信息

Biomimetics (Basel). 2025 May 20;10(5):335. doi: 10.3390/biomimetics10050335.

DOI:10.3390/biomimetics10050335
PMID:40422165
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC12108630/
Abstract

This paper presents the design and control of a quadruped robot equipped with a six-degree-of-freedom (6-) bionic active torso based on a parallel mechanism. Inspired by the compliant and flexible torsos of quadrupedal mammals, the proposed torso structure enhances locomotion performance by enabling coordinated motion between the torso and legs. A complete kinematic model of the bionic torso and the whole body of the quadruped robot is developed. To address the variation in inertial properties caused by torso motion, a model predictive control () strategy with a variable center of mass () is proposed for integrated whole-body motion control. Comparative simulations under trot gait are conducted between rigid-torso and active-torso configurations. Results show that the active torso significantly improves gait flexibility, postural stability, and locomotion efficiency. This study provides a new approach to enhancing biomimetic locomotion in quadruped robots through active torso-leg coordination.

摘要

本文介绍了一种基于并联机构的、配备六自由度（6-）仿生主动躯干的四足机器人的设计与控制。受四足哺乳动物柔顺灵活躯干的启发，所提出的躯干结构通过实现躯干与腿部之间的协调运动来提高运动性能。建立了仿生躯干和四足机器人整体的完整运动学模型。为解决由躯干运动引起的惯性特性变化问题，提出了一种具有可变质心（CoM）的模型预测控制（MPC）策略，用于集成的全身运动控制。在小跑步态下对刚性躯干和主动躯干配置进行了对比仿真。结果表明，主动躯干显著提高了步态灵活性、姿势稳定性和运动效率。本研究为通过主动躯干-腿部协调增强四足机器人的仿生运动提供了一种新方法。

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