Research On Locomotion Control Of Planar Robot With T-Type Hip

Legged robots have excellent mobility,which makes them capable of replacing human beings in complex environments for work and transportation,and have great application value in both civil and military fields.The planar biped robot with T-Type hip,as one kind of legged robots,has excellent performance in energy saving.The paper studies the walking and running locomotion control of the robot,which has a strong practical value.In the aspect of walking locomotion control,on the basis of low-energy consumption walking through periodic gait,further research is carried out.The main research work is as follows:1.Using Newton-Euler orthogonal method,the dynamic equation of walking motion of T-type hip model with driving force is deduced,and the feasibility of stable walking of the model is demonstrated.2.Based on the analysis of the bionic walking mechanism and the relationship between the attitude Pitch angle and the walking stability of the robot,a double closedloop controller based on the attitude Pitch angle is proposed.3.By changing the Pitch angle of the preset attitude,the energy supplement during walking can be adjusted,and the problem of energy regulation during acceleration,deceleration and ramp walking can be effectively solved.4.A prototype is built in the simulation environment of V-rep robot,which realizes the stable walking of the prototype with leveling velocity regulation and anti-disturbance,as well as the uphill and downhill motion on the 5 degree ramp.The range of velocity regulation is 0-0.6m/s.Finally,the validity of the control algorithm is verified by developing a solid prototype.In terms of running locomotion control,the walking model is combined with the spring-loaded inverse pendulum(SLIP)theory to explore the feasibility of running locomotion.The main research work is as follows:1.The running feasibility of the walking model with T-type hip is analyzed.Combining with the characteristics of SLIP model,a running model with spring on the leg is proposed,and the dynamic equation of the model running is deduced.2.By analyzing the influence of the landing point on the trajectory,attitude and running velocity of the robot during the running process,a method of controlling the landing point position by trajectory prediction and linear error function compensation is proposed.In addition,the altitude control in the running process is completed by providing a fixed thrust in the support stage.3.The T-type hip structure was decomposed and simplified reasonably in the process of building the simulation model,and the velocity of the simplified model was realized.Its two-dimensional running velocity could reach 2.5m/s,and the three-dimensional running velocity could reach 1.1m/s.The feasibility of the proposed running algorithm was verified.