平面单腿关节型跳跃机器人研究II: 运动控制

he locomotion control for planar one-legged articulated hopping robot is studied in this paper. The major goal is to maintain this kind of under-actuated robot with ASLIP property hopping on the stable and cyclic trajectory with fixed hopping height and forward speed. In this regard, the Lagrange method is applied to derive the analytical dynamic equations for the planar one-legged articulated hopping robot. Then, Proportional-Derivative (PD) controllers with variable structure corresponding to different control objectives at phases in one hopping period is designed. Moreover, the robot simulation model with flexible ground module is constructed based on MATLAB SimMechanics Toolbox. Finally, the simulation results demonstrate the effectiveness and robustness of the proposed control method.