三种基于对角小跑步态的四足机器人转弯运动生成方法比较  

Comparison of Three Kinds of Turning Generation Methods Based on Diagonal Trotting Gait of Quadruped Robot

作　　者：洪真[1] 李彬[1] 辛亚先 张慧[2] 

机构地区：[1]齐鲁工业大学理学院,山东济南250353 [2]齐鲁工业大学电气工程与自动化学院,山东济南250353

出　　处：《齐鲁工业大学学报》2016年第5期64-70,共7页Journal of Qilu University of Technology

基　　金：国家自然科学基金(61305130);山东省自然科学基金(ZR2013FQ003);中国博士后基金(2013M541912)

摘　　要：提出三种不同的转弯步态生成策略:第一种是基于几何关系推导出的足端轨迹的控制;第二种是基于重心的转弯变换矩阵的控制;第三种方法是基于解耦思想,利用直行和自转耦合的转弯。通过机器人软件WEBOTS进行计算机仿真分析,利用所建立的四足机器人模型,比较上述三种方法的异同,验证它们的正确性和有效性。Three different turning gait generation strategies are proposed for the quadruped robot：the first method based on the trajectory controlling of geometrical relationship is derived and based on the transformation matrix of the center of gravity of the robot, the second method is presented.Then ,based on the deeoupling strategy, through using straight and rotation coupling method, the three method of turning gait is proposed. Using the robot simulation software-Webots, the differences between the above three methods are compared using the model of quadruped robot, the simulation results show the correctness and validity of the proposed methods.

关 键 词：四足机器人 变换矩阵 解耦 几何关系 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]