基于并联腿机构的四足仿生机器人开发  

Design on 5-Bar Mechanism Biologically Inspired Quadruped Robot

作　　者：刘鹏[1] 郑浩峻[1] 关旭[1] 

机构地区：[1]清华大学精密仪器与机械学系,100084

出　　处：《微计算机信息》2007年第02Z期226-227,264,共3页Control & Automation

基　　金：国家863计划资助项目(2001AA422330)

摘　　要：本论文主要对生物的节律运动控制机理进行仿生,模仿生物中枢模式发生器(CPG)产生节律运动控制信号,并对其工程模型进行了简化,方便控制方法实现。同时在机器人腿部结构方面,采用了具有高精度和高刚度的并联闭环机构,提高了机器人的承载能力。经实验表明,基于此并联机构腿的四足机器人可以灵活的实现平面、坡面的多种步态的稳定快速运动。This paper introduces the rhythmic motion and environment adaptability of our quadruped robot through the mimic of CPG which is the rhythmic signal generator in animals.But the matrix model of CPG is too complex for usage.We have proposed a new simplified control model according to the research on the output of CPG which is easier to realize.Also we have proposed and designed a planar close chain 5-bar mechanism to work as the leg of robot.The planar 5-bar mechanism can enhance the carrying capacity of the robot leg deeply. The efficiency of the proposed method is examined through experiments.

关 键 词：仿生机器人 CPG 并联机构 节律运动 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]