摘要
针对传统液压足式机器人足式步态行走过程中,足端会受到地面较大冲击力,容易对机身产生冲击,造成机身不平稳等问题,提出了一种基于位置内环阻抗外环的柔顺控制算法,有效地降低了足端冲击力,使得足端与地面友好接触。首先,以液压足式机器人单腿为对象,对机器人单腿结构和工作原理进行介绍;其次,设计了单腿液压伺服控制回路系统,并对液压足式机器人元器件进行选型;最后,针对足式行走足端柔顺性触地问题设计了位置内环阻抗外环的柔顺控制算法,利用单腿实验平台进行柔顺性触地实验。实验结果表明基于位置内环阻抗外环的柔顺控制算法,有效地降低了足端冲击力,验证了该文设计思路及算法应用的可行性。
In view of the traditional hydraulic foot robot foot-type gait walking process,the foot end will be the ground impact,easy to the body impact,resulting in the fuselage is not stable and other issues,a soft control algorithm based on the position inner ring impedance outer ring,effectively reduce the foot end impact,so that the foot end and the ground friendly contact.First,with the hydraulic foot robot single-legged as the object,the robot's single-legged structure and working principle are introduced,secondly,the one-legged hydraulic servo control circuit system is designed,and the hydraulic foot robot components are selected,and finally,the soft control algorithm of the position inner ring impedance outer ring is designed for the soft touch of the foot-walking foot-side touch.The soft touch experiment was carried out using the one-legged experimental platform.The experimental results show that the soft control algorithm based on the position-in-loop impedance outer ring effectively reduces the impact of the foot end,and verifies the design idea and the feasibility of the algorithm application.
作者
林希
LIN Xi(Shanxi Institute of Industrial and Technical Sciences,Institute of Mechanical Engineering,Xianyang 712000,China)
出处
《液压气动与密封》
2020年第8期68-73,共6页
Hydraulics Pneumatics & Seals
基金
陕西省重点研发项目(2019GY-077)。
关键词
液压足式机器人
阻抗控制
柔顺控制
液压回路
hydraulic foot robot
impedance control
compliance control
hydraulic circuit
