| 液压四足机器人单腿的分数阶虚拟模型控制 |
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| 引用本文： | 赵江波,龚思进,马世成,王军政.液压四足机器人单腿的分数阶虚拟模型控制[J].北京理工大学学报,2022,42(3):304-311. |
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| 作者姓名： | 赵江波 龚思进 马世成 王军政 |
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| 作者单位： | 北京理工大学 复杂系统智能控制与决策国家重点实验室，北京 100081 |
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| 基金项目： | 国家自然科学基金资助项目（61773057）； |
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| 摘 要： | 虚拟模型控制广泛用于四足机器人的运动控制器设计中. 提出了一种分数阶虚拟模型控制器，在保证四足机器人柔性触地的同时，提高四足机器人小跑运动中单腿轨迹跟踪的精确性和鲁棒性. 介绍了关节液压缸力控制系统的频域建模过程及基于非线性寻优法的单腿虚拟模型控制器的参数整定，并通过实验对比了分数阶虚拟模型控制和传统虚拟模型控制在四足机器人小跑运动中单腿的控制效果，证明了分数阶虚拟模型控制对单腿轨迹跟踪性能的改善作用.
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| 关 键 词： | 分数阶微分 虚拟模型控制 液压四足机器人 |
| 收稿时间： | 2020-01-07 |
Fractional-Order Virtual Model Control for Single Leg of Hydraulic Quadruped Robot |
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| ZHAO Jiangbo,GONG Sijin,MA Shicheng,WANG Junzheng.Fractional-Order Virtual Model Control for Single Leg of Hydraulic Quadruped Robot[J].Journal of Beijing Institute of Technology(Natural Science Edition),2022,42(3):304-311. |
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| Authors: | ZHAO Jiangbo GONG Sijin MA Shicheng WANG Junzheng |
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| Institution: | Key Laboratory of Complex System Intelligent Control and Decision, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | As the most widely-used method for motion control of quadruped robot, virtual mode control （VMC）can achieve compliant interaction between foot and ground at the cost of trajectory tracking precision. A fractional-order VMC (FOVMC) was proposed to improve the robustness and precision of VMC for single-leg tracking of hydraulic quadruped robot. And the implementation detail about the frequency domain modeling process of force control system for hydraulic-cylinder-driven joints and optimization-based FOVMC parameter tuning method were provided. Some trotting experiments were carried out on a quadruped robot platform to validate that the superiority of FOVMC over classical VMC in performance improvement of single-leg motion control. |
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