浅析BigDog四足机器人

摘要/Abstract

摘要：

根据BigDog四足机器人目前已经公开的技术资料,对BigDog机器人的整体概况和主要核心技术点进行了分析。机械系统重点分析了BigDog的结构特性和运动特性,以及由此产生的高功率密度问题;通过剖析BigDog液压驱动系统基本构成,发现结构仿生的缺陷限制了BigDog机动性能的进一步提升。研究表明,复杂地形条件下BigDog的运动控制首先取决于姿态的检测和地形的感知,姿态安全是BigDog实现持续纵向运动的前提条件。基本行走控制算法研究表明,液压系统的输出特性,能良好地满足BigDog的动力需求;通过几种典型的运动状态分析,对BigDog的控制实现过程进行了诠释。因非结构化环境移动机器人的智能性主要取决于导航系统的设计,故重点分析了BigDog的导航系统,特别是全自主导航部分。最后结合课题组四足机器人的研究经历,对四足机器人的研发提出了一些建议。

关键词:

BigDog四足机器人, 液压执行器, 仿生学, 运动控制, 导航, LittleDog

Abstract:

Based on the current technical information of a BigDog quadruped robot which was released, the overall profile and the core technology of the BigDog robot were analyzed herein. Structural characteristics, motion characteristics and high power density issues arising from these were analyzed emphatically in the mechanical system. The basic components of the BigDog's hydraulic drive system were analyzed briefly. Biomimetic structure defects restricted the BigDog's maneuverability to further promotion. In rough terrain, the motion control of BigDog firstly depends on the detection of body posture and perception of the terrain. Security posture is the prerequisite for BgDog's continuous longitudinal motion. The basic walking control algorithm was analyzed briefly. The output characteristics of the hydraulic system just meet BigDog's dynamic requirements. Control implementation process was known by analyzing several typical states of motion. Navigation system of BigDog, in particular fully autonomous navigation part is the emphasis. In unstructured environments, the intelligence of mobile robot mainly depends on the design of navigation system. At last, based on author's research experience on quadruped robot, some suggestions of the research and development on the quadruped robot were proposed.

Key words: BigDog quadruped robot, hydraulic actuator, bionics, locomotion control, navigation, LittleDog

中图分类号:

TP242.6

丁良宏, 王润孝, 冯华山, 李军.

浅析BigDog四足机器人

[J]. 中国机械工程, 2012, 23(5): 505-514.

DING Liang-Hong, WANG Run-Xiao, FENG Hua-Shan, LI Jun.

Brief Analysis of a BigDog Quadruped Robot

[J]. China Mechanical Engineering, 2012, 23(5): 505-514.

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链接本文: http://www.cmemo.org.cn/CN/

http://www.cmemo.org.cn/CN/Y2012/V23/I5/505

参考文献

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