六足步行机器人定半径转弯步态  

Turning gait with constant radius of six-legged walking robot

作　　者：陈刚[1] 金波[1] 陈鹰[1] 

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027

出　　处：《浙江大学学报（工学版）》2014年第7期1278-1286,共9页Journal of Zhejiang University：Engineering Science

基　　金：国家自然科学基金创新研究群体科学基金资助项目(51221004);浙江省重点科技创新团队计划资助项目(2010R50036)

摘　　要：将三角步态应用于六足步行机器人定半径转弯步态中,提出基于三角步态的定半径转弯步态规划方法,简化了六足步行机器人转弯步态.将利用重心直线段轨迹跟踪定半径圆轨迹的方法运用到六足步行机器人的定半径转弯步态中,提出基于稳定性约束和腿运动约束条件下的六足步行机器人最大转弯角度的求解方法.在六足步行机器人定半径转弯步态中,对于2组腿分别作为支撑腿转弯时,采用不同的转弯角度从而有效地利用机器人转弯过程中每步的转弯能力.利用MATLAB和ADAMS软件对基于三角步态的六足步行机器人定半径转弯步态进行仿真,仿真结果验证了提出的转弯步态规划方法的正确性.The tripod gait was used in turning gait with constant radius of six-legged walking robot.The planning method for turning gait with constant radius based on the tripod gait was presented which simplifies the turning gait of six-legged walking robot.The method using line segments to track the circle trajectory of center of gravity of the six-legged walking robot was employed to the turning gait with constant radius.An approach to calculate the maximum turning angle of the six-legged walking robot was proposed based on stability constraint and motion constraint.Different turning angles were applied in the turning gait with constant radius of the six-legged walking robot to improve the turning ability in every step when the two groups of legs support the robot respectively.A simulation was conducted with MATLAB and ADAMS to verify the turning gait with constant radius of the six-legged walking robot.Results show that the turning gait with constant radius is correct.

关 键 词：六足步行机器人 定半径 转弯步态 三角步态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]