基于余弦振荡器的四足机器人步态生成与仿真  

Gait Generation of Quadruped Robot Based on Cosine Oscillator

作　　者：刘泽国[1] 丁相方[2] 

机构地区：[1]西藏民族学院信息工程学院,陕西咸阳712082 [2]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《计算机仿真》2013年第9期365-369,共5页Computer Simulation

摘　　要：为实现四足机器人的稳定运动,基于四足机器人对角步态的几何模型,建立余弦振荡器,生成节律运动的上层架构以及上、下层之间的关节映射,得到完整的步态生成策略,并建立四种关节配置形式的机器人虚拟样机模型,进行运动学和动力学仿真。仿真结果表明,基于余弦振荡器的步态生成方法能够满足各种关节配置形式的机器人步态要求,验证了步态生成方法的正确性和普遍适用性,且根据机体波动率的比较,确定前肘后膝式具有更好的稳定性。A cosine oscillator was built based on the trot gait geometry model of a quadruped robot.The architecture of rhythmic motion generation on upper layer and the joint mapping above and below were constructed to get a complete gait generation strategy.Kinematic and dynamic simulations of virtual prototypes whose joints were configured in all possible ways were performed,and the results proved that the theory is correct and universally applicable.According to the body volatility,the configuration in which the elbows stand before the knees is more stable.

关 键 词：四足机器人 余弦振荡器 对角步态 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]