四足机器人坡面运动时的姿态调整技术  

Posture Adjustment for Quadruped Robot Trotting on a Slope

作　　者：韩宝玲[1] 贾燕[1] 李华师[1] 罗庆生[2] 周晨阳[1] 

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]北京理工大学机电学院,北京100081

出　　处：《北京理工大学学报》2016年第3期242-246,共5页Transactions of Beijing Institute of Technology

摘　　要：提出了一种四足机器人对脚小跑步态下的坡面运动姿态调整策略.采用复合摆线对机器人足端轨迹进行规划,以减小足端在换相点处与地面间的瞬时冲击;以机器人质心在斜面上的落点到支撑线的距离为判据进行四足机器人坡面运动稳定性分析,得到其姿态调整的确定值.在Adams中建立了四足机器人的虚拟样机模型并进行了仿真试验,试验结果证实所提出的姿态调整策略对提高四足机器人坡面运动稳定性有效.A control strategy was proposed to ameliorate the trotting movement of quadruped robots on a slope.A compound cycloid line was adopted in this strategy to track the trajectory of the robot so that the instant impact on the feet of quadruped robot at phase change points could be reduced.Certain values of posture adjustment could be acquired according to stability analysis by using the distance between the projective point of the center of mass（COM）on the slope and supporting line as the stability margin.The simulation results from the virtual prototype model in ADAMS show that the posture control strategy proposed in this paper is reasonable,feasible and effective in terms of improving the motion stability of the quadruped robots on a slope.

关 键 词：四足机器人 坡面运动 姿态调整 对角小跑步态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] Q811.211[自动化与计算机技术—控制科学与工程]