四足机器人斜面运动规划及控制研究  

Research on Motion Planning and Control of Quadruped Robot on Slope

作　　者：杜威 杨忠[1] 许昌亮 张辉斌 DU Wei;YANG Zhong;XU Changliang;ZHANG Huibin(College of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《机械制造与自动化》2018年第6期150-153,共4页Machine Building & Automation

基　　金：国家自然科学基金项目(61473144);航空科学基金项目(20162852031)

摘　　要：研究四足机器人在倾斜地面的运动情况对实现其在非规则地形下的稳定运动具有重要意义。通过对四足机器人的运动学分析,规划斜面运动方式。根据仿生学原理与人类经验设计一套模糊控制系统,控制四足机器人相应关节角度,减少机身滚转角的幅度,增加运动的稳定性。Adams与Matlab的联合仿真实验表明,所规划的运动方式能满足四足机器人斜面运动要求,所设计的模糊控制系统能有效提高四足机器人斜面运动的稳定性。This paper researches on the motion of quadruped robot on slope,it is of has great significance to its stable motion on irregular terrain.Based on the kinematic analysis of the quadruped robot,its motion mode on slope is planned.According to the bionics and the human experience a fuzzy control system is designed.This system is used to reduce the roll angle and increase the stability of the movement by controlling the corresponding angle of the quadruped robot joint.Co-simulation of ADAMS and MATLAB shows that the proposed method meets the requirements of the quadruped robot moving on slope,and the designed fuzzy control system can be used to effectively increase the stability of the quadruped robot on slope.

关 键 词：四足机器人 运动规划 模糊控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]