多足机器人规则步态实现方法研究  

Research on period gaits planning for multi-leg robot

作　　者：宋孟军[1] 丁承君[2] 

机构地区：[1]天津职业技术师范大学汽车与交通学院,天津300222 [2]河北工业大学机械工程学院,天津300130

出　　处：《河北工业大学学报》2015年第5期32-37,共6页Journal of Hebei University of Technology

基　　金：天津市重大科技专项(工程)项目(12ZCDZGX45800);天津市科技支撑计划项目(13ZCZDGX01200);河北省自然科学基金(F2013202220);天津市应用基础与前沿技术研究计划项目(14JCYBJC22000)

摘　　要：步态规划在移动机器人运动学研究中具有基础和重要的作用,本文首先对四足机器人的着地点进行设计,并分别对各腿的摆动顺序进行几何规划,利用虚拟样机,对四足机器人的单足轨迹进行设计,使得机体能够维持重心稳定并向前运动;其次,本文构建了四足机器人支撑机构的运动学逆解模型,排除奇异解,基于支撑机构的数学建模与求解对四足机器人的前行运动进行了规划;最后,实验结果表明,规则步态规划方法可实现四足机器人稳定可靠地运动.Gait planning is very important for robotic kinematics. First, each touchdown point is strictly fixed during the gait planning to follow the sequence of each swing leg. Based on the virtual prototype technology, we have also designed the motion trajectory of the legs from the quadruped robot proposed in this paper, so that the robot can work forward steadily. In the following paragraph, the mechanism model and inverse kinematics model are constructed for the quadruped robot, and geometric method is used to solve the singular solution and inverse kinematics for the kinematic mechanism. Then, based on the work done upon, the straight forward walking is finished by using coordinated planning among the four legs of the quadruped robot. Finally, the experiment for period gait planning show that the gait generation method is feasible for straight forward walking.

关 键 词：机器人 步态规划 并联机构 运动学逆解 

分 类 号：TH114[机械工程—机械设计及理论]