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第三十届中国控制会议

作者： WANG Li-Yang~(1,2),LIU Zhi~2,ZENG Xiao-Jie~2,ZHANG Yun~2 1.Department of Electronic Engineering,Shimde Polytechnic,Foshan Guangdong 528300,P.R.China 2.Faculty of Automation,Guangdong University of Technology,Guangzhou Guangdong 510006,P.R.China

＜正＞A kind of gait control method via fuzzy logic and iterative optimization is proposed for solving the fatal problem of high energy consumption in practical application of biped robots.A strategy of energy consumption estimation（ECE） and an algorithm of energy-efficiency optimization are proposed based on three important indexes of energy consumption for biped ***,trajectory of the trunk is tuned according to ZMP-based fuzzy rules when leg motions deviate from walking reference trajectory,which ensure the ZMP falling into the stability ***,a strategy of ECE for biped walking robots is proposed,and the energy consumption of the trunk is ***,an iterative optimization algorithm based on ECE is proposed to optimize the estimated trajectory of the trunk which has been derived from fuzzy ZMP tuning model *** proposed method is applied to a robotic *** and experimental results show the validity of the method.

关键词： Energy Efficiency Biped Robot Zero Moment Point(ZMP) gait control

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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

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Frontiers of Mechanical Engineering 2021年第2期16卷 271-284页

作者： Yue ZHAO Feng GAO Qiao SUN Yunpeng YIN State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

关键词： terrain classification hexapod robot legged robot adaptive locomotion gait control

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