提升四足机器人行走稳定性的对角步态规划方法  

Trot Gait Planning Method for Improving the Stability of Quadruped Robot

作　　者：韩宝玲[1] 汪清强 贾燕[1] 罗庆生[2] 朱琛 HAN Bao-ling;WANG Qing-qiang;JIA Yan;LUO Qing-sheng;ZHU Chen(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100181 [2]北京理工大学机电学院,北京100081

出　　处：《北京理工大学学报》2018年第9期917-920,926,共5页Transactions of Beijing Institute of Technology

摘　　要：针对四足机器人在采用对角步态行走中容易失稳的问题,提出了通过改变对角步态中支撑足的初始位姿来改善并提升运动稳定性的方法.结合零力矩原理,找到四足机器人支撑足最佳初始膝关节转角θ1和髋部前向关节转角θ2,从而确定四足机器人支撑足的最佳初始位姿.仿真表明:四足机器人运动采用不同初始位姿时,运动过程中的稳定性不同.当取最佳初始位姿时,四足机器人的机身偏转量最小,稳定性最好.由此证明,通过调整支撑足的初始状态可以有效提高四足机器人在采用对角步态行走过程中的稳定性.To solve the unstable problem of the walking quadruped robot destabilized with trot gait,a new method was proposed by changing the initial position of the support foot.Firstly,combined with the principle of zero moment point(ZMP),the optimal initial knee joint angleθ1 and the hip forward joint angleθ2 were calculated,and then the optimal initial position was figured out.Simulation results show that the stability of quadruped robot can be different with different initial position.Taking the optimal initial position,the robot body can show the smallest deflection,getting the best stability.It is proved that the stability of the quadruped robot can be effectively improved by adjusting the initial state of the support foot,which is of high practical value in the quadruped robot walking with trot gait.

关 键 词：四足机器人 对角步态 初始位姿 零力矩点原理 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]