侧向冲击下脊柱关节机器人D-SLIP与CPG融合控制策略OA

Aiming at the problem that quadruped robots are prone to instability and lateral deviation when subjected to lateral impact,a control strategy is proposed for anti-lateral impact of a spine-joint quadruped robot based on the fusion of a damped spring-loaded inverted pendulum(D-SLIP)and a central pattern generator(CPG).Lateral impacts are classified into unstable and non-unstable impacts based on the force balance conditions of the foot-end contact points.D-SLIP model is adopted for single-leg control.The influence of spine-joint motion control parameters is considered,and CPG model are utilized to achieve coupled control between the 4 legs and the spine-leg system.Disturbance rejection joint control is applied to resisting lateral impacts.Active side-swing initiation conditions are defined based on the hip joint lateral torque.The lateral displacement distance of the robot after a lateral impact is shortened through active side-sway displacement planning.Simulation and experimental validation using Webots and Simulink demonstrate that,compared to traditional inverted pendulum control strategies,the proposed control strategy reduces roll and pitch angle disturbances by 25%and 20%respectively,shortens lateral displacement by 35%,and improves the stability and robustness of the spine-joint robot in resisting lateral impacts.