主动腰部四足机器人控制系统与跳跃步态研究

摘要

四足动物在快速奔跑中会采用跳跃步态,而跳跃步态中腰部的伸缩运动又对速度的提升具有重大影响.针对跳跃步态中腰部摆动对速度的影响,设计了带有腰部主动关节的小型四足机器人,采用了舵机作为髋关节主动驱动器和弹簧作为膝关节被动驱动器,使腿部具有一个主动自由度和一个被动自由度.以STM32芯片为中央处理器设计了包括复位、通信和舵机驱动等功能模块的控制系统.通过软件设计,在实验中实现了四足机器人跳跃步态下的稳定运动和较好的仿生运动现象,验证了控制系统的有效性,观察到了腰部主动关节对四足机器人跳跃运动中的速度影响作用.%Bounding gait will be used in fast running of quadrupeds, and the telescopic movement in bounding gait has a significant influence on speed boost.Based on the impact of the waist swinging on speed,a small quadruped robot is designed with an active waist joint,which chooses servos as active hip driver and springs as passive knee driver,and there is an active DOF(degree of freedom)and a passive DOF in one leg.The control system uses STM32 chip as CPU and consists of resetting, communication and servo driving modules.The experiments show the stable movement of quadruped robot bounding gait and a good bionic movement phenomenon by the software design.At the same time,it verifies the effectiveness of the control system and the effect of an active waist jointon speed in bounding gait of quadruped robot is observed.