四足步行机器人稳定性分析  

Stability Analysis of Quadruped Walking Robot

作　　者：刘西侠[1] 王树海[1] 金毅[1] 洪升耀[1] 

机构地区：[1]装甲兵工程学院机械工程系,北京100072

出　　处：《机械设计与制造》2013年第5期189-191,共3页Machinery Design & Manufacture

基　　金：国防基础科研项目(B2320110005)

摘　　要：基于四足步行机器人仿真模型对机器人的瞬时质心坐标进行了计算,获得了四足步行机器人直行步态下瞬时质心的运动规律,分析了各质量模块对机器人质心坐标的动态影响,对比了瞬时质心位移与几何中心位移的相对关系。给出了四足步行机器人静步态稳定性判定的公式,计算了基于瞬时质心的稳定裕度,对比分析了基于瞬时质心和基于几何中心的稳定裕度,提出基于几何中心的稳定裕度计算可以减少计算量,提高响应特性,适合实时静步态控制情况下应用,基于瞬时质心的稳定裕度可以得到稳定裕度的精确值。The instantaneous centroid coordinates of the robot is calculated based on the quadruped simulating robot model, and the characteristics of the instantaneous centroid motion trader straight walking condition is given. A contrast between the displacement of instantaneous centroid and the displacement of geometric center is analyzed, which is caused by the dynamic influence of each mass module. The stability macgin based on instantaneous centroid is calculated and analyzed by the stability expressions of static gait. It shows the stability margin based on instantaneous centroid is more accurate than stability margin based on geometric＇ center. A nd stability margin based on geometric center is easier to be used on static gait control.

关 键 词：四足机器人 稳定裕度 质心偏移 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]