Research On The Jumping Control Of The Wheel-Legged Robot

Wheel-legged robots have the advantages like fast traveling speed,splendid adaptability and high mobility.Therefore,they have great potential and high value in the future application of manufacture,living,rescue and outer space exploration.In order to further enhance the environmental adaptability and emergency dealing capability of the wheel-legged robot,this paper which is mainly divided into four parts as following will focus on the jumping motion planning and control of the wheel-legged robot.Research on the periodic continuous jumping method of the single-legged robot.This research is mainly separated into three parts: the takeoff method of articulated legged robot based on the two-mass spring load inverted pendulum(TMSLIP)model,the landing force control strategy based on optimal approach velocity(OAV)and the parameter selecting method of the two-mass spring-damping load inverted pendulum(TMSDLIP)model based on Poincare mapping.Different two-mass simplified models are used to plan the trajectories of the upper and lower centroid in the takeoff phase,the aerial phase,the landing preparation phase and the landing phase respectively.These trajectories are integrated by Poincare mapping to realize the periodic continuous motion.Then the trajectories are mapped to the joint space of the single-legged robot through the connection between the single-legged robot centroids and the two-mass simplified model centroids.Finally,the joint feed-forward torque is calculated by the single-legged robot dynamics to provide the control parameters.In the ideal situation,as long as the driving force of the robot can meet the needs of the planning,then this planning method can realize the jumping of any height.Research on the jumping method of the wheel-legged robot.This research is mainly separated into three parts: the wheel-legged robot takeoff method based on the two-mass spring load inverted pendulum(TMSLIP)model,the aerial tucked motion planning based on the pelvic translation and the landing buffer strategy based on the two-mass spring-damping load inverted pendulum(TMSDLIP)model.Different two-mass simplified models are used to plan the trajectories of the upper and lower centroid in the takeoff phase,the tucked phase,the aerial falling phase and the landing phase respectively.The wheel-legged robot kinematics model is established.The waist-swinging mapping method is used in the takeoff phase and the tucked phase to map the trajectories from the two-mass simplified models to the wheel-legged robot joint space,while the lading phase adopts the non-waist-swinging mapping strategy.Finally,the joint feed-forward torque is calculated by the wheel-legged robot dynamics to provide the control parameters.Similarly,as long as the driving force of the robot is enough,the robot can jump at any height using this planning method.Simulation of the single-legged robot periodic continuous jumping and the wheel-legged robot jumping.The landing buffer strategy based on OAV is simulated in matlab,of which the effectiveness is verifed.The robot models are established in matlab/simulink.The single-legged robot periodic continuous jumping for ten cycles is simulated with the foot height of 0.1m,0.2m and 0.3m respectively and the wheel-legged robot jumping is simulated with the wheel height of 0.30 m,0.35 m and 0.40 m respectively.