The invention relates to a variable stiffness control method of a hydraulic leg SLIP model capable of adapting to grounds with different stiffness. The variable stiffness control method comprises the following steps: acquiring leg stiffness in a z direction of a Cartesian space under different ground stiffness based on series total stiffness; an SLIP model is introduced, and SLIP model variable stiffness parameters from the foot end to the center of mass are obtained; respectively constructing stiffness relationships between the foot end and the generalized force and the generalized position of the joint, deducing a mapping relationship between the foot end of the hydraulic leg and the equivalent stiffness of the joint, and obtaining variable stiffness parameters of the joint; establishing variable stiffness parameters of a hydraulic cylinder of the hydraulic leg SLIP model; and finally, variable stiffness control under different environment stiffness is achieved by combining the hydraulic cylinder variable stiffness parameters and the environment variable stiffness parameters of the hydraulic leg SLIP model. According to the method, a set of complete corresponding relation is obtained, the relation between the joints and the equivalent SLIP rigidity is obtained, the active compliance parameters of the hydraulic drive joints can be accurately adjusted under the relation, and active variable rigidity control over the joints is achieved so as to adapt to different environment rigidities.
本发明涉及一种能适应不同刚度地面的液压腿SLIP模型变刚度控制方法,其包括以下步骤:基于串联总刚度获取不同地面刚度下笛卡尔空间z方向腿部刚度;引入SLIP模型,获取沿足端到质心的SLIP模型变刚度参数;分别构建足端与关节广义力、广义位置的刚度关系,推导液压腿足端与关节等效刚度映射关系,获取关节变刚度参数;建立液压腿SLIP模型液压缸变刚度参数;最后结合液压腿SLIP模型液压缸变刚度参数与环境变刚度参数,实现不同环境刚度下的变刚度控制。其得到一套完整对应关系获取关节到等效SLIP刚度关系式,在该关系式下能精确调节液压驱动关节的主动柔顺参数,实现关节的主动变刚度控制,以适应不同环境刚度。
Hydraulic leg SLIP model variable stiffness control method capable of adapting to grounds with different stiffness
一种能适应不同刚度地面的液压腿SLIP模型变刚度控制方法
2023-05-30
Patent
Electronic Resource
Chinese
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