中国空间科学技术

中国空间科学技术 ›› 2018, Vol. 38 ›› Issue (2): 32-39.doi: 10.16708/j.cnki.1000-758X.2018.0023

• 研究探讨 • 上一篇    下一篇

基于能耗最优的多足机器人综合步态优化方法

张世俊1，邢琰1,2,*，胡勇1,2   

  1. 1. 北京控制工程研究所，北京  100190
    2. 空间智能控制技术重点实验室，北京  100190
  • 收稿日期:2017-11-13 接受日期:2018-03-14 出版日期:2018-03-25 发布日期:2020-02-12
  • 通讯作者: 邢琰（1974-），女，研究员，13717990916@163.com，研究方向为航天器导航、制导与控制
  • 作者简介:张世俊（1990-），男，博士研究生，zsjbice@foxmail.com，研究方向为轮足复合机器人运动控制
  • 基金资助:
    国家自然科学基金（61333008）；国家自然科学基金青年科学基金（61603037）

Composite gait optimization method for a multi-legged robot based on optimal energy consumption

ZHANG Shijun1，XING Yan1,2,*，HU Yong1,2   

  1. 1. Beijing Institute of Control Engineering, Beijing 100190, China
    2. Science and Technology on Space Intelligent Laboratory, Beijing 100190, China
  • Received:2017-11-13 Accepted:2018-03-14 Published:2018-03-25 Online:2020-02-12

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摘要： 为综合研究步态参数、摆动腿足端轨迹和机身运动轨迹对多足机器人步态稳定性和能耗的影响，文章提出一种基于能耗最优的多足机器人综合步态优化方法，将步态优化过程转换为两个嵌套的子优化问题。首先，采用一种基于零力矩点稳定性理论的机身运动轨迹规划方法，针对给定的下一步落足点和支撑多边形，规划机身运动轨迹，在保证机身轨迹连续平滑的同时，确保机器人在迈步过程中的稳定性。其次，提出一种基于能耗指标的周期性步态优化方法，建立足式机器人虚拟样机模型作为步态优化模型，对步态参数、摆动腿足端轨迹和机身运动轨迹同时进行优化，保证机器人的步态稳定性，得到使机器人前进单位距离能耗最小的步态。最后，搭建足式机器人虚拟样机仿真平台，仿真结果表明，采用本文的步态优化方法，在保证机器人平稳前进的同时，机器人前进单位距离能耗与优化前相比降低了约14%。

关键词: 多足机器人, 步态优化, 足端轨迹, 零力矩点, 虚拟样机模型

Abstract: In order to study the effect of gait parameters, swing foot trajectory and body trajectory on gait stability and energy consumption of multi-legged robot a composite gait optimization method for a multi-legged robot based on optimal energy consumption was proposed，which transformed the gait optimization process into two nested sub optimization problems. Firstly，a body trajectory planning method based on zero moment point stability theory was given. The body trajectory was planned according to the next footholds and the supporting polygon. The body trajectory was continuous, smooth and stable with respect to the zero moment Point (ZMP)  stability theory. Secondly, a periodic gait optimization method based on energy consumption index was proposed. In order to optimize the walking gait, the virtual prototype model of quadruped robot was established as the gait optimization model, and the gait parameters，the swing foot trajectory and the body trajectory were optimized simultaneously. Finally，the virtual prototype simulation platform of the quadruped robot was built，and the simulation results show that the energy consumption of the robot is reduced by about 14% through the gait optimization algorithm.

Key words: multi-leggedrobot, gait optimization, foot trajectory, zero momentpoint, virtual prototype model