基于余弦振荡器的四足机器人trot步态仿真  

Simulation of Trot Gait for Quadruped Robot Based on Cosine Oscillator

作　　者：张洪鹏[1] 王效岳[1] 

机构地区：[1]山东理工大学机械工程学院,山东淄博255049

出　　处：《计算机仿真》2016年第1期321-325,共5页Computer Simulation

基　　金：山东理工大学一级学科重点支持计划项目资助

摘　　要：在四足机器人常见的trot步态行走的研究中,为提高机器人在复杂环境下的适应性,设计了中枢模式发生器运动控制模型。利用余弦函数构建CPG的振荡器,建立了两层的CPG网络模型。第一层由四个具有固定相位差的振荡器分别控制机器人的四个髋关节,第二层通过建立膝髋关节之间的映射关系控制膝关节,实现了四足机器人trot步态直线行走以及跨越沟壑行走。利用SolidWroks软件建立四足机器人三维模型,并导入ADAMS中建立虚拟样机进行动力学仿真,实验结果表明,余弦函数振荡器能够实现四足机器人trot步态行走。For common trot walking gait of quadruped robots, a control model of central pattern generator move- ment was designed in the paper. By using cosine function, the CPG oscillator was constructed and two layers of CPG network model were established. In the first layer, four oscillators have a fixed phase difference respectively and con- trol four hip joints of the robot. IN the second layer, the knee was controlled by the mapping relationship between knee and hip. Then the trot gait straight walking and walking across a gap were successfully realized. A 3D model of the four-legged robot was set up by using the Solidwroks. The model was imported into ADAMS for simulation. The experimental result shows that the oscillator based on cosine function can realizes trot walking gait of quadruped ro- bots.

关 键 词：余弦振荡器 四足机器人 对角步态运动仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]