| 液压足式机器人单腿变刚度控制弹跳研究 |
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| 引用本文： | 赵江波,薛塔,王军政.液压足式机器人单腿变刚度控制弹跳研究[J].北京理工大学学报,2018,38(10):1051-1055. |
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| 作者姓名： | 赵江波 薛塔 王军政 |
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| 作者单位： | 北京理工大学 自动化学院 复杂系统智能决策与控制国家重点实验室,北京,100081;北京理工大学 自动化学院 复杂系统智能决策与控制国家重点实验室,北京,100081;北京理工大学 自动化学院 复杂系统智能决策与控制国家重点实验室,北京,100081 |
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| 摘 要： | 液压足式机器人由于其负载能力强，动态性能优越得到广泛的关注。针对液压足式机器人能量调节及其单腿弹跳运动控制问题，将液压足式机器人单腿等效为弹簧负载倒立摆（SLIP）模型，并提出了一种主动变刚度的控制策略，可以使液压足式机器人单腿在着地时刻进行能量调整，并使其达到期望的弹跳高度。实验结果表明，本文提出的控制方法可以实现液压足式机器人单腿稳定弹跳，并有效控制弹跳高度。
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| 关 键 词： | SLIP模型 变刚度 能量调节 弹跳控制 |
| 收稿时间： | 2017/6/25 0:00:00 |
Research on Hopping for Hydraulic Robot Leg via the Variable Stiffness Control |
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| ZHAO Jiang-bo,XUE Ta and WANG Jun-zheng.Research on Hopping for Hydraulic Robot Leg via the Variable Stiffness Control[J].Journal of Beijing Institute of Technology(Natural Science Edition),2018,38(10):1051-1055. |
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| Authors: | ZHAO Jiang-bo XUE Ta and WANG Jun-zheng |
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| Institution: | Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | The hydraulic legged robot has been widely concerned because of its strong load capacity and excellent dynamic performance.In this paper,the hydraulic robot leg was investigated based on the spring-loaded inverted pendulum (SLIP) model to solve the energy regulation and hopping control problem for hydraulic robot.And an active variable stiffness control strategy was proposed to adjust the energy of hydraulic robot leg in the stance phase and ensure its desired hopping height.The experimental results show that the control strategy proposed in this work can achieve a stable hopping for the hydraulic foot robot leg and control its hopping height effectively. |
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| Keywords: | SLIP model variable stiffness energy regulation hopping control |
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