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期刊信息
  • 中国标准连:ISSN1005-2895
  • 续出版物号: CN 33-1180/TH
  • 主管单位:轻工业杭州机电设计研究院有限公司
  • 主办单位:轻工业杭州机电设计研究院有限公司、中国轻工机械协会、中国轻工业机械总公司
  • 社  长:刘安江
  • 主  编:黄丽珍
  • 地  址:杭州市余杭区高教路970号西溪联合科技广场4-711
  • 电子邮件:qgjxzz@126.com
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宋旺达, 倪受东, 马冬.4足机器人多步态规划与仿真[J].轻工机械,2020,38(5):43-48
4足机器人多步态规划与仿真
Gait Planning and Simulation of Quadruped Robot
  
DOI:10.3969/j.issn.1005 2895.2020.05.008
中文关键词:  4足机器人  步态规划  D H模型  静步态  动步态  MATLAB
英文关键词:quadruped robot  gait planning  D H model  static gait  dynamic gait  MATLAB
基金项目:产学研联合创新资金—前瞻性联合研究项目:人机共融型机器人力控制关键技术研究(BY2016005 05)
作者单位
宋旺达, 倪受东, 马冬 南京工业大学 机械与动力工程学院 江苏 南京211816 
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中文摘要:
      为了实现一种前膝后肘式4足机器人多步态稳定行走,课题组采用D H法对机器人进行运动学建模,求解了其运动学正解和逆解。规划了不同步态的足端轨迹和质心位置,分析了静步态和动步态下支撑相和摆动相切换序列,通过平滑关节角过渡的方法使机器人从静步态过渡到动步态。将MATLAB中规划好的关节轨迹作为ADAMS驱动输入,实现了3种步态下的连续仿真。分析了平地行走步态、越障步态和对角小跑步态下机器人运动特性。结果表明规划的3种步态有效可行,静步态和动步态衔接平滑,为驱动元件选型和步态参数优化提供了参考。
英文摘要:
      In order to achieve a steady walking in various ways for a quadruped robot with a front knee and back elbow, the D H method was used to model the robot kinematics, and the forward and inverse kinematic solutions were solved. The several foot trajectory and centroid position were planned, the switching sequence of standing phase and swing phase under static gait and dynamic gait were analyzed. The robot gait transition from static to dynamic was realized by a smoothing joint angle transition equation. The planned joint trajectory in MATLAB was used as the ADAMS driving input to realize continuous simulation under three gaits. The motion characteristics of the robot gait in the flat walking, obstacle crossing and trotting were analyzed. The results show that the three generated gaits are effective and feasible, and the static gait and dynamic gait are smoothly connected, which provides a basis for the selection of driving components and optimization of gait parameters.
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