崎岖地形环境下四足机器人的静步态规划方法  

Static gait planning method for quadruped robots on rough terrains

作　　者：张帅帅[1] 荣学文[1] 李贻斌[1] 李彬[2] 

机构地区：[1]山东大学控制科学与工程学院,济南250061 [2]齐鲁工业大学理学院,济南250353

出　　处：《吉林大学学报（工学版）》2016年第4期1287-1296,共10页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金重点项目(61233014);'863'国家高技术研究发展计划项目(2015AA042201);国家自然科学基金项目(61305130);中国博士后科学基金项目(2013M541912)

摘　　要：为了使四足机器人能够通过姿态调整提高其自身的地形适应性,给出了机器人姿态调整角的计算方法。四足机器人在行走过程中通过躯干的摆动增加稳定裕度,并使用五次曲线对躯干运动轨迹进行规划,保证了整个运动过程的连续性。另外,为克服机器人无法获取地形信息的不足,规划了一种矩形摆动足足底轨迹。仿真实验结果表明:使用提出的静步态规划方法,四足机器人可以在未知地形信息的情况下,实时、自主、稳定地通过复杂度较高的崎岖地形。In order to improve the ability of quadruped robots to cross rough terrains,a static gait planning method is proposed.This method consists of three parts：the posture adjustment planning,the body trajectory planning and the foot trajectory planning.To improve the adaptability of the quadruped robot to the terrain through the posture adjustment,a method to calculate the pitching angle is proposed.The robot can obtain enough stability margin through a body sway motion,and the continuity of movement during the whole walking process can be guaranteed by using aquintic body trajectory.In addition,a box shape foot trajectory planning method is given to overcome the situation that the robot can not obtain the information of the terrain.Using the proposed static gait planning method,the robot can autonomously navigate through unknown irregular terrains with sufficient stability margin in real time.

关 键 词：自动控制技术 四足机器人 静步态规划 躯干运动曲线 足底轨迹 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]