基于局部规则的六足仿生机器人步态控制  

Gait control of hexapod robot based on local rules

作　　者：尹晓琳[1] 张赫[1] 赵杰[1] 刘玉斌[1] 赵龙海[1] 

机构地区：[1]哈尔滨工业大学机器人技术及系统国家重点实验室,哈尔滨150080

出　　处：《哈尔滨商业大学学报（自然科学版）》2013年第5期565-570,共6页Journal of Harbin University of Commerce：Natural Sciences Edition

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

摘　　要：对六足机器人进行了运动学分析,计算了步行速度与步态参数之间的关系,提出了三种基本的固化步态,为提高自由步态行走的连续性并减少冲击,提出了一种适合于自由步态的足端轨迹规划方法,并结合足端工作空间进行了参数计算.设计了实现机器人自由步态的四条协调腿部运动的局部规则.给出了程序流程图并通过Matlab以及ADAMS的计算仿真进行了验证.In this paper,the kinematics of the hexapod robot was analyzed and the relationship between walking speed and gait parameters was calculated,three basic gait of the hexapod robot were proposed.In order to improve the continuity and reduce the impact when using the free gait,a kind of trajectory planning method suitable for free gait was proposed and parameters were calculated combine with the workspace.Four local rules were designed for coordinating the locomotion of legs,program flow chart was showed and the methods were verified by Matlab calculation and ADAMS simulation.

关 键 词：六足机器人 自由步态 轨迹规划 局部规则 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]