基于主-被动复合式变刚度柔性关节的四足机器人仿生机理研究

项目名称： 基于主-被动复合式变刚度柔性关节的四足机器人仿生机理研究

项目编号： No.61503119

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化学科

项目作者： 张小俊

作者单位： 河北工业大学

项目金额： 21万元

中文摘要： 四足机器人运动灵活性高、地形适应能力强，在抢险救灾、军事反恐等领域具有广阔的应用前景。关节的抗冲击性与系统的柔顺稳定控制是提高足式机器人运动性能的关键科学问题。针对以上两个问题，本项目以犬类动物为仿生对象，研究其运动机理，旨在突破主-被动复合式变刚度柔性关节技术，提出具备可变刚度柔性关节的四足机器人稳定控制方法。研究内容：1）通过犬运动实验揭示犬关节变刚度特性，建立其运动学与动力学模型，研究犬关节的缓冲作用及能量运用机理；2）提出一种主-被动复合式变刚度柔性关节机构，建立刚柔耦合动力学模型，揭示仿生柔性关节的变刚度实现机理，并基于能量放大机理实现机构优化与尺度综合；3）基于主-被动复合式变刚度柔性关节的四足机器人，研究其运动稳定性与能量消耗规律，提出一种基于能耗优化的稳定运动控制方法。本项目从变刚度柔性关节入手，提高四足机器人的仿生运动效果，促进仿生机器人的发展，具有重要的理论与应用价值。

中文关键词： 四足机器人；主-被动复合式变刚度柔性关节；变刚度特性；能量消耗模型；运动稳定性控制

英文摘要： Quadruped robot has higher flexibility on motion, and it is better tuned for all terrains. So it has a broad application prospect in various fields such as rescue and relief work, military and anti-terrorism etc. The impact resistance of joint and flexible-stability control of the system are the key scientific problems to improve the performance of the robot motion. To solve the above two problems, the canine animal is as bionic object in the project. In order to breaking through the technology of hybrid active-passive variable stiffness flexible joints, the movement mechanism of canine animal is researched. and stability control method of quadruped robot with variable stiffness flexible joint is proposed .On this basis a kind of quadruped robot is developed, whose legs with variable elastic stiffness. The research content is as follows. 1)Based on movement process observation experiment of dog, its biomechanics law of joints is studied. Its variable stiffness characteristic of joints is analyzed. Its kinematic model and dynamic model are built. And joint cushion with mechanism of using energy is shown. 2) The hybrid active-passive variable stiffness flexible joints mechanism design is studied, following with the variable stiffness realization mechanism of the bionic flexible joint is revealed . Its dynamic model is built, and the energy amplification mechanism is discussed. Then based on the joint's energy amplification, mechanism optimization and dimension synthesis of variable stiffness active flexible joints are realized. 3)Based on hybrid active-passive variable stiffness flexible joints, the leg mechanism is designed. Based on stability and energy consumption index, configuration design of quadruped robot is optimized. So the stable movement control method is proposed based on optimizing energy consumption. This project will improve the bionic movement effectiveness of the quadruped robot by variable stiffness flexible joints. At the same time, this project promotes the development of bionic robot, so it has important values in the theory and application.

英文关键词： quadruped robot;hybrid active-passive variable stiffness flexible joint;characteristics of variable stiffness;energy consumption model;stabilitycontrol