四足机器人Trot步态规划与仿真分析  

Trot Gait Planning and Simulation Analysis of Quadruped Robots

作　　者：谢楚政 李光[1] 于权伟 吴陈成 XIE Chuzheng;LI Guang;YU Quanwei;WU Chencheng(College of Mechanical Engineering,Hunan University of Technology,Zhuzhou Hunan 412007,China)

机构地区：[1]湖南工业大学机械工程学院,湖南株洲412007

出　　处：《湖南工业大学学报》2021年第5期32-40,共9页Journal of Hunan University of Technology

基　　金：湖南省自然科学基金资助项目(2018JJ4079);湖南工业大学研究生创新基金资助项目(CX2010)。

摘　　要：为了提高四足机器人对角步态的稳定性,缓解对角步态摆动相两条腿不能同时着地的问题,从足端轨迹优化、足端初始位置选择这两方面进行步态规划。通过D-H法建立四足机器人运动学模型,几何法求运动学逆解。基于零冲击原则优化足端轨迹函数,选取8种不同的初始足端位置进行仿真。从足端冲击力、机体位移、俯仰角、滚动角、偏航角的变化等方面分析四足机器人运动的稳定性。对比仿真结果表明:采用优化后的足端轨迹、优选后的足端初始位置的四足机器人,对角步态运动更为稳定。In view of an improvement of the stability of the quadruped robot trot gait,thus alleviating the problem two swinging legs’failure at landing at the same time,a gait planning has been carried out from the following two aspects:optimization of the trajectory function of the extremities and selection of the initial position of the extremities.The kinematics model of quadruped robot is to be established by D-H method,with the inverse kinematics solution obtained by adopting geometric method.The trajectory function of the extremities is optimized based on the zero impact principle,with 8 different extremities positions selected for simulation,followed by an analysis of the motion stability of the quadruped robot from aspects of foot impact force,body displacement,pitch angle,roll angle and yaw angle.The comparative simulation results show that the trot gait motion of the quadruped robot is more stable by using the optimized extremities trajectory and the optimized extremities position.

关 键 词：四足机器人 对角步态 足端轨迹 足端初始位置 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]