自然地形下六足步行机器人基于落足点的位姿调整策略  

Pose Adjustment Strategy Based on the Selected Footholds for Hexapod Robot Walking Under Natural Terrain

作　　者：赵龙海[1] 刘玉斌[1] 赵杰[1] 尹旭悦[1] 许文韬 张赫[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080 [2]长春科技学院汽车机械工程学院,吉林长春130600

出　　处：《江南大学学报（自然科学版）》2013年第4期384-389,共6页Joural of Jiangnan University (Natural Science Edition)　

基　　金：国家自然科学基金项目(51105101);机器人技术与系统国家重点实验室(哈尔滨工业大学)自主项目(SKLRS200901A01)

摘　　要：以搭载双目视觉系统的六足步行机器人HITCR-II为研究对象,根据选取的落足点,设计了机器人兼顾运动效率和稳定性的位姿调整策略。通过足端轨迹规划和机器人逆运动学算法求得各个关节的运动轨迹,在Adams中对机器人在自然地形中行走过程进行了运动学仿真实验。实验结果表明,使用该位姿调整策略,能够使六足步行机器人HITCR-II实现在自然地形下的高效稳定地运动。This paper concentrates on the hexapod walking robot HITCR-II equipped with smart-eye stereo vision facility and proposes a pose adjustment strategy based on the selected footholds for natural terrain to realize its autonomous moving on natural ground which aims at solving the confliction between the efficiency and stability of the motion of the robot. According to the selected footholds,a pose adjustment strategy is proposed. The motion trajectory of each joint of the robot is obtained from the toes trajectory planning and inverse kinematic method. Finally,a simulation experiment of the walking process of the robot on natural terrain under Adams is conducted by using the joint trajectories. The experimental results showed that the pose adjustment strategy proposed in this paper can realize the omnidirectional automatic walking on natural terrain and satisfy the requirements of both efficiency and stability.

关 键 词：六足步行机器人 落足点 位姿调整 轨迹规划 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]