基于足地接触力跟踪的单足机器人弹跳运动控制

摘要

The performance of legged hopping robot is subjected to the influence of the ground stiffness feature during the contact phase.To avoid the influence and insulate the ground stiffness disturbance we first established the simplified single leg hopping model with elastic featured ground,then an analysis about the relation of ground stiffness with moving trajectory and contact force profile is made.Based on this a control strategy to utilized to compensate the ground contact force to be the same as that of an undisturbed system via active extension or retraction of the leg during contact.The validity is demonstrated by simulation result.%为了使足式弹跳机器人在运动中避免由于地面接触刚度的变化对弹跳运动产生的影响，首先建立了单足弹跳机器人在弹性地面条件下的运动简化模型，进而分析了地面弹簧刚度变化对机体重心运动轨迹以及着地相中足地接触力的影响。采用足地接触力补偿控制的手段，通过主动控制单腿的伸缩，使模型中弹簧系统的足力输出与期望保持一致，消除了地面刚度变化对机体运动的干扰。利用仿真实验表明了控制方法的可行性。