基于SLIP模型的四足仿生机器人Galloping步态高速运动归约化控制方法研究

The high-dimension and strong nonlinear characteristics of the walking robots introduce a lot of technical problems to the motion controlling for the dynamic gait. At present, based on the SLIP model, the gait control and the control parameter tuning are limited in numerical methods or empirical methods, it's difficult to conduct a deeply parametric analysis on the motion control. To solving the problem, in the subject we target at the Gallop gait, which is the most sophisticated gait and possess the highest joint flexibility for quadruped. We use the SLIP model as the main study object of low-dimensional motion, then combine the study of the low-dimensional model of the dynamics and the dimensionality reduction of the high-dimensional walking robot systems ,with the expectation that we can use the common analysis tools, like perturbation theory, regression map etc. to solve the problem in the control of the low dimensional SLIP model; On this basis, we can introduce the results into the high-dimensional control field to solve the problem in high speed motion control of the quadruped robots moving in the dynamic gait, reveal the nature of the control theory about walking robots moving in the dynamic gait, the kernel of which is the SLIP reduction model, put forward a common method to the control for the walking robots , making the robot has dynamic and stable feature with high level, and make the control system and architecture to be perfect.

足式机器人高维度、强非线性的特点给动步态的运动控制带了诸多技术难题。目前基于SLIP模型来处理足式机器人动步态控制与控制参数整定常常局限于数值手段或经验方法，难于对运动控制进行深入细致的参数化分析，针对该不足，本课题瞄准四足机器人运动最复杂、关节灵活度最高的Galloping步态，以SLIP模型作为低维运动空间的主要研究对象，将低维度SLIP模型动力学的解析化研究与高维度足式机器人系统的降维相结合，期望利用摄动理论、回归映射等分析手段解决低维SLIP模型的运动控制问题；并以此为基础将低维空间的控制成果衍化至高维机器人空间，进而形成四足机器人动步态下的高速运动控制方法，揭示以SLIP归约模型为内核的足式机器人不同步态下运动控制机理的理论本质，为全面提升足式机器人运动的高动态性、高稳定性提供普适性解决方案，完善足式仿生机器人运动控制体系。

足式机器人高维度、强非线性的特点给动步态的运动控制带了诸多技术难题。目前基于SLIP模型来处理足式机器人动步态控制与控制参数整定常常局限于数值手段或经验方法，难于对运动控制进行深入细致的参数化分析，针对该不足，本课题瞄准四足机器人运动最复杂、关节灵活度最高的Galloping步态，以SLIP模型作为低维运动空间的主要研究对象，利用将低维度SLIP模型动力学的解析化研究方法与高维度足式机器人系统的降维相结合，采用了摄动理论、回归映射等分析手段解决了低维SLIP模型的运动控制问题，并在此基础上将低维空间的控制成果衍化至高维机器人空间，进而形成了四足机器人动步态下的高速运动控制方法，揭示了以SLIP归约模型为内核的足式机器人不同步态下运动控制机理的理论本质，为全面提升足式机器人运动的高动态性、高稳定性提供了普适性解决方案，完善了足式仿生机器人运动控制体系。发表了论文9篇，其中SCI检索期刊论文6篇，EI检索期刊论文2篇，EI检索会议论文1篇，培养博士研究生3名，硕士研究生6名，授权发明专利2项。