灵长类仿生机器人飞跃轨迹规划及控制策略

运动模式耦合和欠驱动动力学特性是实现灵长类仿生机器人悬臂飞跃的难点.针对运动模式耦合问题,本文通过建立灵长类仿生机器人分段运动模型,在运动学分析的基础上,结合目标约束条件和切换条件,提出了灵活完整的、适应不同飞跃距离的飞跃轨迹规划方法,以此获得系统飞跃的起始和终止姿态.针对欠驱动问题,采用基于虚约束的轨迹规划和跟踪控制方法来保证系统可以准确达到飞跃起始姿态.最后,搭建了悬臂飞跃仿真模型,仿真结果验证了轨迹规划和控制策略的有效性.

Ricochetal Brachiation Motion Planning and Control for Two-Link Bio-primate Robot

The tight coupling of locomotion and underactuated characteristics are the main difficulties for realizing ricochetal brachiation of a bio-primate robot. For the locomotion coupling， the segmented dynamic/kinematic models were built and analyzed. Then， a flexible， comprehensive and adaptive ricochetal brachiation motion planning algorithm was proposed in consideration of the constraint condition and switching condition. Therefore， pre- and post-flying postures were obtained. As to the underactuated characteristics， virtual-constraint-based trajectory planning and tracking control methods were adopted to ensure that the system could arrive at the pre-flying posture accurately. Finally， a ricochetal brachiation simulation model was built and the results show the effectiveness of the proposed trajectory planning and control strategy.