Dynamic Balance Optimization and Control of Quadruped Robot Systems With Flexible Joints
研究了四足机器人在柔性关节和外部扰动下的动态平衡优化与控制，提出基于二次目标函数的力分配和模糊自适应控制方法，仿真验证了跟踪精度和鲁棒性。
This paper investigates dynamic balance optimization and control of quadruped robots with compliant/flexible joints under perturbing external forces. First, we formulate a constrained dynamic model of compliant/flexible joints for quadruped robots and a reduced-order dynamic model is developed considering the robot interaction with the environment through multiple contacts. A dynamic force distribution approach based on quadratic objective function is proposed for evaluating the optimal contact forces to cope with the external wrench, and fuzzy-based adaptive control of compliant/flexible joints for quadruped robots is proposed to suppress uncertainties in the dynamics of the robot and actuators. The dynamic surface control approaches and fuzzy learning algorithms are combined in the proposed framework. All the signals of the closed-loop system have proven to be uniformly ultimately bounded through Lyapunov synthesis. Simulation experiments were performed for a quadruped robot with compliant/flexible joints. The benefits of its tracking accuracy and robustness indicate that the proposed framework is promising for the robots with payload uncertainties and external disturbances.