一种四足仿生机器人步态协调控制的策略  

The Strategy Of A quadruped Bionic Robot Gait Harmonious Control

作　　者：谭云福[1] 党培[1] 

机构地区：[1]燕山大学信息科学与工程学院,河北秦皇岛066004

出　　处：《微计算机信息》2010年第32期152-154,共3页Control & Automation

摘　　要：四足仿生机器人的步态协调控制,是四足机器人的研究热门之一,仿照狗的骨骼结构,构建了四足仿生机器人的腿部机构,并对步态协调控制进行了研究;其次,提出了"步态协调"的两层涵义,并且基于静态稳定性分析规划了四足仿生机器人腿的协调摆动顺序;然后,采用指数加减速控制算法对单腿关节的运动速度进行规划,依据这个规划结果,实现多关节的协调控制。经验证,这种控制方法能够很好的满足机器人关节运动的协调性和准确性。Gait harmonious control of quadruped bionic robot is always a hot spot of research now.Referring to the skeletal structure of dog,designed a structural model of quadruped robot,and study on its gait harmonious control.Secondly,propose the two aspects to ＂gait harmonious＂,and base on the meaning of statically stable analysis,the swinging sequence of the quadruped bionic robot legs was planned;then,the speed of single leg joint movement was planned by using exponential？acc/dec control algorithm,according to the result,implemented harmonious control of multi-joints.This control method was verified,and can meet the coordination and accuracy of multi-joints movement.

关 键 词：四足机器人 机器人步态 静态稳定性 关节协调控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]