基于质心稳定的四足机器人轨迹规划与仿真  

Trajectory Planning and Simulation of Quadruped Robot Based on Centroid Stability

作　　者：闫国杰 刘士宾 陈雄武 Yan Guojie;Liu Shibin;Chen Xiongwu(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机械工程学院,上海市200093

出　　处：《农业装备与车辆工程》2020年第6期54-57,共4页Agricultural Equipment & Vehicle Engineering

摘　　要：以四足机器人为研究对象,对机器人足端轨迹进行3种轨迹规划。以机器人质心稳定为原则,在trot对角步态下对每种足端轨迹进行仿真分析,从而选择出最优的足端轨迹。为trot步态下四足机器人足端轨迹规划研究提供了新思路和新方向。With the quadruped robot as the research object,3 kinds of trajectory plan are carried out on the robot's foot-end trajectory.Based on the principle of robot centroid stability,each foot-end trajectory is simulated and analyzed under the trot diagonal gait,so that the optimal foot-end trajectory can be selected.It provides a new idea and a new direction for the research on the planing of foot-end trajectory of quadruped robot under the trot gait.

关 键 词：四足机器人 trot对角步态 足端轨迹 规划 质心稳定 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]