Abstract: To improve the adaptability and stable motion ability in the complex environment,a diagonal trot motion control strategy of quadruped robot with active and passive Variable Stiffness Joint(apVSJ) was proposed.Based on Spring Loaded Inverted Pendulum (SLIP) model and control target decoupling method,the joint planning of diagonal legs for vacated phase,control strategies of forward speed,fuselage height and pitch adjustment for ground phase were designed separately,and active control strategy of leg stiffness was put forward.Then the gait motion planning of quadruped robot in diagonal trot based on foot touchdown state was completed,and a quadruped robot prototype based on active and passive variable stiffness joint was developed.The effectiveness and correctness of the motion control strategy were verified by the prototype experiments carried out.

Key words: quadruped robot, flexible joint, variable stiffness, diagonal trot, control strategy

摘要： 为提升足式机器人在复杂环境下的自适应稳定运动能力,针对具有主被动变刚度柔性关节的四足机器人提出一种对角小跑步态运动控制策略。基于弹簧负载倒立摆模型与控制目标解耦方法,设计了腾空相对角腿关节角规划,着地相前进速度、机身高度、俯仰角调节及腿部刚度主动调节控制策略,并基于足端触地状态完成了四足机器人对角小跑步态运动规划。研制了具有主被动变刚度柔性关节的四足机器人样机,通过实验验证了所提运动控制策略的有效性与正确性。

关键词: 四足机器人, 柔性关节, 变刚度, 对角小跑, 控制策略