基于足端轨迹的仿生四足机器人运动学分析与步态规划  

Strategy of foot trajectory for bionics quadruped robots kinematic analysis and gait planning

作　　者：勾文浩 袁立鹏[2,3] 宫赤坤[1] 高彤[1] 

机构地区：[1]上海理工大学机械工程学院,上海200093 [2]常州恐龙园股份有限公司,常州213022 [3]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《现代制造工程》2017年第7期37-41,共5页Modern Manufacturing Engineering

基　　金：国家科技支撑计划项目(2013BAH57F00)

摘　　要：设计了一种电驱动四足仿生机器人,构造了具有主被动自由度、基于电动缸驱动的机器人腿部关节结构。对机器人进行运动学建模,并借助其运动学模型进行机器人正逆运动学计算,求解出了机器人腿部各个关节的转角函数。针对四足机器人的行走特点,提出一种四足机器人步态规划方法。经过对机构几何关系的分析计算,得到腿部各个关节电动缸位移量驱动函数。仿真实验结果表明,四足机器人在该种算法下可实现连续平稳的行走,初步验证了所提轨迹规划方法、步态及机构设计的合理性和有效性。A kind of electrically driven quadruped bionic robot is designed, which has the main and passive structure and the ro- bot＇ s leg joint structure based on the electric cylinder. The purpose is to explain how the quadruped robot walks. D-H coordinates are given a kinematic calculation method. Kinematic modeling, the inverse kinematics calculation of robot with the aid of kinemat- ic model ,the corner function of the joints of the robot was solved. A method of gait planning for a four legged robot is proposed for the walking of a robot. Simulation experiments show that, the robot walks stably, the foot trajectories are smooth and the undulation of body has small amplitude.

关 键 词：四足仿生 D-H坐标 足端轨迹 步态规划 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]