面对未知坡面的四足机器人足端轨迹仿真研究  

Simulation Research on Foot Trajectory of Quadruped Robot with Unknown Slope

作　　者：宫赤坤[1] 刁海参 贺飞翔 Gong Chikun;Diao Haishen;He Feixiang(School of Mechanics,University of Shanghai for Science and Technology,Shanghai 200082,China)

机构地区：[1]上海理工大学机械工程学院,上海市200082

出　　处：《农业装备与车辆工程》2021年第9期156-159,共4页Agricultural Equipment & Vehicle Engineering

摘　　要：随着四足机器人技术的日益成熟,应用领域也随之扩大,以往理想状态下平面的运动范围已不能满足现实中复杂的应用场合。为实现四足机器人未知坡面的平稳运动,以平面上成熟的Trot足端轨迹为基础,根据调整四足机器人在斜坡的质心投影,对足端轨迹进行重新解算,提高机身运动过程中的稳定性。对运动用MATLAB和ADAMS平台进行仿真,使得四足机器人可在30°的坡面上稳定行走。With the development of quadruped robot technology,the application field is also expanded.In the past,the motion range of the plane in the ideal state can not meet the complex application situation in reality.In order to realize the stable movement of quadruped robot on unknown slope,based on the mature trot foot trajectory on the plane,according to the adjustment of quadruped robot's centroid projection on the slope,the foot end trajectory is recalculated to improve the stability of the fuselage in the process of motion.The movement is simulated by MATLAB and ADAMS platform,which makes the quadruped robot walk stably on 30°slope.

关 键 词：四足机器人 坡面 轨迹规划 联合仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]