Synergistic Motion Stability of a Scorpion-like Composite Robot

摘要

In this paper, a compliant control scheme based on the optimization of the contact force of the robot leg is proposed to improve the stability of the whole moving process of the robot. Firstly, according to the motion state of the robot, the change of its center of gravity is analyzed, then the stable gait of the robot is determined by the stability margin, and the smooth control of the robot’s foot trajectory is realized. Finally, the compliant control model of the robot leg is established. In the process of moving, the contact force between the legs and the ground is optimized in real-time, so that the composite robot can walk steadily on uneven terrain. The 3-D model of the scorpion composite robot was built with ADAMS software, and dynamics simulation was carried out according to the compliant control scheme. This paper takes the robot’s walking speed and torso angle as performance evaluation indexes and verifies the effectiveness of the compliant control scheme. The cooperative motion stability test is carried out on the actual uneven terrain. The test results show that the robot’s pitch angle and roll angle are between ±0.5°, which meets the motion stability requirements of the robot and verifies the correctness of the compliant control scheme and control model proposed in this paper.