当前位置: X-MOL 学术Ind. Rob. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Stable jump control for the wheel-legged robot based on TMS-DIP model
Industrial Robot ( IF 1.8 ) Pub Date : 2021-08-26 , DOI: 10.1108/ir-04-2021-0083
Xu Li 1 , Yixiao Fan 1 , Haoyang Yu 1 , Haitao Zhou 1 , Haibo Feng 1 , Yili Fu 1
Affiliation  

Purpose

The purpose of this paper is to propose a novel jump control method based on Two Mass Spring Damp Inverted Pendulum (TMS-DIP) model, which makes the third generation of hydraulic driven wheel-legged robot prototype (WLR-3P) achieve stable jumping.

Design/methodology/approach

First, according to the configuration of the WLR, a TMS-DIP model is proposed to simplify the dynamic model of the robot. Then the jumping process is divided into four stages: thrust, ascent, descent and compression, and each stage is modeled and solved independently based on TMS-DIP model. Through WLR-3P kinematics, the trajectory of the upper and lower centroids of the TMS-DIP model can be mapped to the joint space of the robot. The corresponding control strategies are proposed for jumping height, landing buffer, jumping attitude and robotic balance, so as to realize the stable jump control of the WLR.

Findings

The TMS-DIP model proposed in this paper can simplify the WLR dynamic model and provide a simple and effective tool for the jumping trajectory planning of the robot. The proposed approach is suitable for hydraulic WLR jumping control. The performance of the proposed wheel-legged jump method was verified by experiments on WLR-3P.

Originality/value

This work provides an effective model (TMS-DIP) for the jump control of WLR-3P. The results showed that the number of landing shock (twice) and the pitch angle fluctuation range (0.44 rad) of center of mass of the jump control method based on TMS-DIP model are smaller than those based on spring-loaded inverted pendulum model. Therefore, the TMS-DIP model makes the jumping process of WLR more stable and gentler.



中文翻译:

基于TMS-DIP模型的轮腿机器人稳定跳跃控制

目的

本文的目的是提出一种基于双质量弹簧阻尼倒立摆(TMS-DIP)模型的新型跳跃控制方法,使第三代液压驱动轮腿机器人原型(WLR-3P)实现稳定跳跃。

设计/方法/方法

首先,根据WLR的配置,提出一种TMS-DIP模型来简化机器人的动力学模型。然后将跳跃过程分为推力、上升、下降和压缩四个阶段,每个阶段都基于TMS-DIP模型独立建模和求解。通过WLR-3P运动学,可以将TMS-DIP模型上下质心的轨迹映射到机器人的关节空间。提出了相应的跳跃高度、着陆缓冲、跳跃姿态和机器人平衡控制策略,以实现WLR的稳定跳跃控制。

发现

本文提出的TMS-DIP模型可以简化WLR动力学模型,为机器人的跳跃轨迹规划提供简单有效的工具。该方法适用于液压 WLR 跳跃控制。通过在 WLR-3P 上进行的实验验证了所提出的轮腿跳跃方法的性能。

原创性/价值

这项工作为 WLR-3P 的跳跃控制提供了一个有效的模型(TMS-DIP)。结果表明,基于TMS-DIP模型的跳跃控制方法的着陆冲击次数(2次)和质心俯仰角波动范围(0.44 rad)小于基于弹簧加载的倒立摆模型。因此,TMS-DIP 模型使 WLR 的跳跃过程更加稳定和平缓。

更新日期:2021-08-26
down
wechat
bug