四方机器人控制:一种使用身体平面运动控制,腿阻抗控制和贝齐尔曲线的方法
Gabriel Duarte Gonçalves Pedro1, Gabriel Bermudez1, Vivian Suzano Medeiros1
1Mechanical Engineering Department, São Carlos School of Engineering, University of São Paulo, São Carlos 13566-590, SP, Brazil.
Sensors (Basel, Switzerland)
|June 27, 2024
概括
本研究介绍了四足机器人的新控制策略,使用阻抗控制和贝齐尔曲线来实现稳定的运动. 该方法简化了运动规划,使机器人能够有效地在复杂的地形上导航.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 机械电子学是什么意思 机械电子学
背景情况:
- 四足机器人需要精确的脚位和腿部控制,以便在具有挑战性的环境中安全执行任务.
- 传统的运动规划方法通常依赖于复杂的,计算密集型机器人及其周围环境模型.
- 机器人浮动基的简化动力学模型为运动规划提供了更容易获得的方法.
研究的目的:
- 为四足机器人提供一种新的控制策略,使用每个腿的阻抗控制.
- 通过专注于机器人的平面运动模型和利用贝济埃曲线来生成轨迹来简化运动规划.
- 通过模拟和物理实验验证拟议的控制策略.
主要方法:
- 实施四足机器人的各个腿的阻抗控制.
- 使用六度贝济埃曲线,根据腿部速度生成参考轨迹.
- 采用平面运动模型来控制机器人,以引导机器人沿着预定义的路径.
- 在机器人操作系统 (ROS) 中开发和测试控制策略.
主要成果:
- 拟议的控制策略有效地引导四足机器人沿着预定义的路径.
- 在Go1机器人上的模拟和实验证明了该策略在跟踪参考轨迹方面的有效性.
- 在实施的控制方案下,机器人表现出稳定的行走和慢跑步态.
结论:
- 这种新的控制策略使四足机器人能够实现稳定的机动和精确的轨迹跟踪.
- 该方法简化了运动规划和控制,使其适应各种硬件配置和环境.
- 阻抗控制和贝齐尔曲线轨迹生成的集成为四足机器人导航提供了强大的解决方案.
相关概念视频
01:22Planar Rigid-Body Motion
430
Understanding the movement of a rigid body in planar motion involves recognizing that every particle within this body is traversing a path that maintains a consistent distance from a specific plane. This concept is fundamental in the study of physics and mechanical engineering, and it allows us to comprehend better how objects move in space.
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
430
01:24One-Degree-of-Freedom System
481
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
481
01:23Curvilinear Motion: Rectangular Components
444
Curvilinear motion characterizes the movement of a particle or object along a curved path, notably evident when envisioning a car navigating a winding road. If the car starts at point A, its position vector is established within a fixed frame of reference, where the ratio of the position vector to its magnitude signifies the unit vector pointing in the position vector's direction.
As the car advances, its position evolves over time. Quantifying the car's velocity involves computing the...
As the car advances, its position evolves over time. Quantifying the car's velocity involves computing the...
444
01:26PD Controller: Design
218
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
218
01:22Controller Configurations
94
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
94
01:17Open and closed-loop control systems
711
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
711