基于足端轨迹规划的四足机器人运动学分析与仿真  

Kinematics Analysis and Simulation of Quadruped Robot Based on Foot Trajectory Planning

作　　者：郭建 赵易 徐镔滨 GUO Jian;ZHAO Yi;XU Binbin(Guangzhou City Institute of Technology,Guangzhou Guangdong 510800,China)

机构地区：[1]广州城市理工学院,广东广州510800

出　　处：《机床与液压》2021年第23期48-53,共6页Machine Tool & Hydraulics

基　　金：广东省普通高校青年创新人才项目(2019KQNCX212);华南理工大学广州学院优秀骨干教师项目(52-CQ18YG22)。

摘　　要：为了减少四足机器人在行走过程对地面的冲击,提出一种改进动静步态的五次多项式的足端轨迹规划。推导了改进五次多项式的数学公式,利用机器人运动学知识计算机器人的运动学逆解。根据数学推导,分析机器人足端速度和加速度的理论曲线。利用ADAMS对机器人在三角步态和对角步态下进行运动仿真,对比了足端轨迹的理论结果和仿真结果,分析了仿真情况下机器人质心变化和RPY角变化。理论分析和仿真结果一致,验证了改进足端轨迹的正确性。In order to reduce the impact of the quadruped robot on the ground during walking,a fifth-order polynomial foot trajectory plan was proposed to improve the dynamic and static gait.The mathematical formula of the improved fifth-degree polynomial was deduced,and the inverse kinematics solution of the robot was calculated using the knowledge of robot kinematics.According to mathematical derivation,the theoretical curves of the speed and acceleration of the robot foot were analyzed.Using ADAMS to simulate the movement of the robot in the triangular and diagonal gait,the theoretical results of the foot trajectory and the simulation results were compared,and the change of the robot’s mass center and the change of the RPY angle in the simulation were analyzed.The theoretical analysis and simulation results are consistent,verifying the correctness of the improved foot trajectory.

关 键 词：四足机器人 足端轨迹规划 运动学分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH11[自动化与计算机技术—控制科学与工程]