| 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） |
|
| 摘要点击次数: 1247 |
| 全文下载次数: 1630 |
| 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. |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| 关闭 |
