| In the study of quadrupted bionic robot,we take the quadrupted mammal as the reference object,the anatomical structure and the motion principle are mainly studied.With the development of foot robot.It is urgent to study the problem of motion control of dynamics gaits in order to meet the requirements of the quadrupted robot for speed,flexibility and mobility in real environments.By the way,the most important technology of these technology is the hopping control for the bionic single-legged robot.A single-legged robot has only one gait,thast is,the hopping gait.Its motion covers all the envens that include landing cushioning,taking off and swing leg which occur in the legs of the legged-robot in dynamics gait,especially in the pronk gait.Therefore the performance of the hopping motion determines the performance of the dynamic gait of the Legged-Robot.This paper studies the technology of hopping control of the single-legged robot on the dual-articulated prototype leg,the main research results of this paper are as follows.(1)The nonlinear model of a valve-controlled asymmetric cylinder force control system is established.Then the nonlinear robust control algorithm based on feedback linear sliding mode theory is designed for force tracking.The simulating results show that the FLSM algorithm effectivly improves the accuracy of force tracking compared to the traditional PID control method.(2)From the point of view of momentum,this paper designs a single-legged robot hopping motion control algorithm based on momentum conservation.And constructs a finite state machine based on the plantar force sensor and system time.The hopping motion of a single-legged robot is divided into two phase: the flight phase and the stance phase,and the corresponding control is carried out respectively.Finally,the bouncing motion of single-legged robot is realized both in the simulation and experiment,which verifies the feasibility of the research results of this paper. |
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