基于Webots仿真软件的仿生六足机器人机构设计与步态规划  

Developing Biologically Inspired Hexapod Robot in Webots Simulation Software Environment

作　　者：赵小川[1] 罗庆生[1] 韩宝玲[2] 

机构地区：[1]北京理工大学机电学院学院,北京100081 [2]北京理工大学机械与车辆工程学院,北京100081

出　　处：《系统仿真学报》2009年第11期3241-3245,3267,共6页Journal of System Simulation

基　　金：总装备部重点基金项目(6140528)

摘　　要：仿真技术在机器人机构设计与运动分析的研究与应用中发挥着重要的作用,可提升机器人机构设计的质量和改善机器人的运动性能。在六足纲昆虫观测实验的基础上,模仿六足纲昆虫的躯体形态和结构特征,以蚂蚁爬行的三角步态为摹本,对仿生六足机器人进行了机构设计与步态规划,并在Webots移动机器人仿真软件的环境下完成了仿生六足机器人的实体造型,编制了相应的运动控制程序,且通过仿真实验验证了仿生六足机器人机构的合理性和运动的灵活性。Biologically inspired legged robots have been an active area of robotics research and simulation technology plays an important role in robot design. In order to analyze the insects＇ structure and motion characteristic, hexapod observation experiments were conducted. Based on the experimental results, the design of a biologically inspired hexapod robot was developed in Webots professional mobile robot simulation software environment, the robots structure imitated the hexapods＇and the ant＇s tripod gait was used as the robot＇s gait. The robot＇s kinematic simulation experiments were conducted. The experimental results show that the biologically inspired hexapod robot has reasonable mechanism and good locomotion performance.

关 键 词：仿生六足机器人 机构设计 步态规划 Webots机器人仿真软件 昆虫观测实验 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]