BigDog四足机器人关键技术分析

51720154JOURNALOFMECHANICALENGINEERINGVol.51No.7Apr.2015DOI10.3901/JME.2015.07.001BigDog*(110016)BigDogBigDogBigDogLS3BigDog/LS3BigDogLS3BigDogPetmanBigDogLS3TP242KeyTechnologyAnalysisofBigDogQuadrupedRobotDINGLianghong(StateKeyLibratoryofRobotics,ShenyangInstituteofAutomation,ChineseAcademyofSciences,Shenyang110016)AbstractThecoretechnologyoftheBigDogquadrupedrobotisanalyzed.AdaptingtotheroughterrainisthemaindesigncluesoftheBigDog.Improvinghorizontalandverticaldegreesoffreedomlinkageabilityisthemaininnovationofstructuredesign.Notgoodmotioncharacteristics,suchasrobot’scenterofgravityupsanddownsandselfdisturbancearethemainreasonsforbeingdifficulttocontrol.Thecomponentsandadvantageofthehydraulicpowersystemareanalyzed.Solvingthedriverproblemofleggedvehiclesisthefundamentalgoalofthehydraulicsystemdevelopment.Supportinglegslippingornot,pitchandrollangleofthebodytoolargeornotarethemainparametersasmonitoringrobot’smovementcondition.IMUandjointencodercandetectthestateparametersofthebodyandlimbs.Terrainoffootplacementcanberestoredbypressuresensor.Three-in-onecanbuildavirtualmodel.Bythevirtualmodel,robot’scenterofgravityandotherkeycontrolprocessparameterscanbecalculated.Atthesametime,locomotioncontrolsystemcandoactiondrillroughlyandaccurateplanningofkinematicsordynamics.Thedeviationofplanningandprototypemodelistakenasthefeedbackforclosed-loopcontrol.LS3constructsthenavigationsystemofthree-dimensionallaserscannerandbinocularvisionasthemain.LS3canstrideacrossrockyterrainbyvisualterrainreconstruction.Softwaresystemcanintegrateallthebasicfunctionsasanorganicwhole.Autonomyandintelligenceofrobotarediscussed.BigDog/LS3andCuriosityMarsRoverarecomparedandanalyzed.BigDoghasthreebigproblemscurrently:instantaneouslyunabletoincreasehydraulicvaluesignificantly,allkindsofdamageinmechanicaltransmission,bionicdesignnotthoroughness.FortheinadequaciesofBigDog,severalimprovementsareanalyzedontheLS3.Petman,CheetahandWildcatrobotarebrieflyanalyzed.Atlasbipedrobothascrashprotectionfunctionandcanrecoveryequilibriumstatusquicklyafterexternalforcehittingbyvirtualmodel.KeywordsBigDogquadrupedrobotgroundplaneestimationoflocomotioncontrolvirtualmodelautonomyintelligenceLS3robotAtlasrobot*(8632011AA041001)201404062014122551720BigDog[1-7]200512BigDog16BigDogPetmanLS32013BigDog(1)AtlasBigDogBigDog1BigDog2011(863)BigDog[8-13]BigDog[14][15]BigDogBigDogBigDogBigDog1216BigDogBigDog[16]BigDog123456BigDog7LS38Atlas911.1BigDog1216BigDogBigDogBigDog3:12:12BigDog20154BigDog32BigDogBigDogBigDogBigDog12161.233()()22.1BigDog1616416BigDog12.5kW(20.68MPa)(1000Hz)51741000Hz12164BigDog2.2BigDogBigDog5LS3BigDog5111.01.52.04.07.070.080.02.316LS31.52.0kW510kg2.4BigDog20154BigDog5BigDogBigDogBigDog2.5BigDog33.1BigDogBigDog661000HzBigDog3.23.2.1RAIBERT[4]3.2.2BigDog5176BigDogBigDog2BigDog2BigDogBigDogIMUIMU10°(7)7BigDogBigDogBigDog3.3IMU20154BigDog73.3.1BigDog883.3.2BigDog(1)(2)1000Hz(3)BigDog3.4BigDogBigDog89950N5178IMU9BigDogBigDogBigDog1010BigDogBigDog3.53.5.1UGProEBigDog1317BigDog331000HzBigDogBigDog3.5.220154BigDog91111BigDogNASA-JPL()BigDogBigDogBigDogBigDog3.5.312123.63.6.1BigDog51710BigDogFf1f2N13f1Nf2f1Nf2BigDogBigDogBigDog1314F2F3F1FBigDog143.6.2BigDog12BigDogBigDogBigDogBigDog3.6.320154BigDog113.6.4BigDogBigDogBigDogBigDogBigDog3.73.7.1BigDog(15)BigDog1516163.7.2BigDogIMU51712Ff1717BigDogBigDogBigDog3.7.3BigDogBigDogBigDog3.844.1BigDogBigDogLS3LS3LS3LS3LS3GPSLS3LS31818LS3LS320154BigDog13LS3360°LS3LS330mLS3BigDogLS31919LS3LS3BigDogBigDog/LS34m×4md1d2h2020LS3BigDogLS3LS3LS3LS3LS3GPSLS3GPSGPSGPSLS3LS3GPSLS3LS3LS3BigDog51714BigDogBigDog4.2BigDogQNX[17]21IMU21BigDogQNXBigDogQNXQNXNASA-JPLBigDogClarityBigDog4.3LS355.1[18]BigDogBigDog5.2[19]20154BigDog15(1)BigDog(2)(3)BigDogBigDog5.3[20-21]BigDog5.4BigDog/LS3BigDog5171622BigDog/LS322BigDogBigDogBigDog/LS3BigDog44BigDog/LS3BigDog/LS36BigDogBigDogBigDogBigDog6.1BigDogBigDog10km/h230.3s23BigDog17BigDog20154BigDog17BigDogBigDogLS36.2BigDogBigDogBigDogBigDogBigDogBigDogBigDog6.3BigDogBigDogBigDog8BigDogBigDogBigDog6.4BigDog7LS37.1LS3LS3AlphaDogBigDog201524LS3182kg32kmLS3LS3BigDogBigDog5171824LS3(1)1)2)BigDogBigDogLS3BigDogLS325253)BigDog4)LS3BigDogLS35)6)LS3LS3LS3BigDog(2)LS3LS3(3)LS3BigDogLS3LS320154BigDog197.226BigDog267.326km/hLS3(1)142727(2)(3)(4)BigDogBigDogRAIBERTBigDog88.1PetmanPetman16BigDog28PetmanPetmanBigDog5172028Petman()Petman()8.2Atlas8.2.1Atlas29AtlasBigDog28529Atlas5282×21×2()1×21×21×21×21×21×22×11×21×21×21×2Atlas30BigDog/LS3Atlas30Atlas8.2.2AtlasAtlasAtlasAtlasLS3Atlas8.2.3Atlas20154BigDog21Atlas28Atlas8.2.49kgAtlasAtlas311000HzBigDogAtlas31Atlas8.2.5AtlasAtlas1500AtlasAtlasAtlas8.2.6Atlas9BigDogBigDogBigDogBigDogBigDogBigDogBigDogBigDogLS351722BigDog[1]BigDog—Themostadvancedrough-terrainrobotonearth[G/OL].[2013-05-30].http//[2]BUEHLERMPLAYTERRRAIBERTM.Robotsstepoutside[C]//InternationalSymposiumofAdaptiveMotionofAnimalandMachinesIlmenauGermany20051-4.[3]PLAYTERRBUEHLERMRAIBERTM.BigDog[C]//InProc.ofSPIE.OrlandoUSA200662302O.[4]RAIBERTMBLANKEPOORKNELSONGetal.Bigd