基于模型的四足机器人步态转换控制研究

为了解决基于模型的控制方法在四足机器人步态转换过程中稳定控制问题，本文在仿生学和机构学基础上设计了一款四足机器人样机平台，并推导了机器人单腿运动学模型。在足端可达工作空间内规划了机器人抬腿高度和迈步步长，利用理想的复合摆线轨迹，通过合理控制步态周期，提出了一种过渡段变周期控制方法，实现了步态转换前后定速度控制和变步长控制，保证了步态转换前后速度不变或可变。为了验证所提算法的正确性和稳定性，分别开展了单腿足端轨迹实验和整机步态转换实验。在完成整机运动控制的基础上，对比了基于模型的控制方式和基于中枢模式发生器的控制方式在四足机器人步态转换过程的应用。仿真和实验结果表明，在基于模型的控制算法下，四足机器人可以实现步态的平滑转换，且速度能伴随步长和周期的变化实现调节，满足了不同速度下的行走要求，为四足机器的运动控制提供了参考。

Model Based Gait Transition Control for Quadruped Robots

In order to solve the problem of stable control in the gait transition process of quadruped robots by using model-based control methods, a quadruped robot prototype platform was designed based on bionics and mechanics, and the robot''s single leg kinematic model was derived. The robot''s leg height and step length were planned within the reachable workspace at the foot end. By using an ideal compound cycloid trajectory and controlling the gait period reasonably, a transition period variable control method was proposed, which achieved fixed speed control and variable step length control before and after gait transition, ensuring that the speed remained unchanged or variable before and after gait transition. In order to verify the correctness and stability of the proposed algorithm, single leg foot trajectory experiments and whole machine gait transformation experiments were conducted, respectively. On the basis of completing the overall motion control, the application of model-based control and central pattern generator based control in the gait transition process of quadruped robots was compared. The simulation and experimental results showed that under the model-based control algorithm, the quadruped robot can achieve smooth gait transformation, and the speed can be adjusted with changes in step size and period, meeting the walking requirements at different speeds, providing a reference for the motion control of quadruped robots.