基于四足机器人的全向运动控制与仿真  

The Controland Simulation of Omni-directional Locomotion for a Quadruped Robot

作　　者：张博 何海龙[1] 王明[1] 丁雪 ZHANG Bo;HE Hailong;WANG Ming;DING Xue(Xi'an Electronic Engineering Research Institute, Xi'an 710100)

机构地区：[1]西安电子工程研究所,西安710100

出　　处：《火控雷达技术》2022年第2期88-92,101,共6页Fire Control Radar Technology

摘　　要：足式机器人的运动方式源于对哺乳动物的仿生学继承。对比轮式、履带式等机器人的运动方式有着明显的优越性。因此长期成为机器人研究领域的热点。足式机器人具有优异的地形适应能力。对山地、台阶、雨林等复杂地形环境有良好的适应性,也将成为野地军事作战的有力武器。尤其是模仿强大狩猎能力动物的四足机器人,其运动特性更具潜力。四足机器人也成为足式机器人领域的重点研究课题。相比于两足和六足机器人,四足机器人具备更高的平稳性,又减少了一些结构上和控制上的冗余性。本文对四足机器人的整体运动进行链系统建模分析,并通过简化正、逆运动学方程得出足端运动轨迹规划,结合齐次变换矩阵,实现对四足机器人的全向行走控制。基于ADAMS和Matlab联合仿真,进行trot和walk步态规划的优化设计。Movement of foot robot was originated from the simulation of mammals.Compared with wheeled and crawler robots,the foot robot features with more excellent terrain adaptability and is widely used in mountainous,steps,forests and other complex terrain environment,and will become a powerful weapon in field military combat.Due to the bionic inheritance of the motion characteristics of the quadruped mammal with strong wading ability,quadruped robot has become a key research topic in the field of foot robot.Compared to bipedal and hexapod robots,quadruped robot has higher stability and less redundancy in structure and control than hexapod robot.In this paper,the entire movement of quadruped robot was modeled and analyzed,and the omni-directional walking control of quadruped robot was realized by simplifying the forward and inverse kinematics equations and combining homogeneous transformation matrix.The trot and walk gait planning was also optimized based on the joint simulation of ADAMS and MATLAB.

关 键 词：四足机器人 D-H方法 全向运动规划 ADAMS和Matlab联合仿真 

分 类 号：TN95[电子电信—信号与信息处理]