基于Bezier曲线的四足机器人Trot步态优化  

Trot Gait Optimization of Quadruped Robots Based on Bezier Curves

作　　者：薛晨慷 李光[1] 易静 谭薪兴 XUE Chenkang;LI Guang;YI Jing;TAN Xinxing(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》2022年第5期42-49,共8页Journal of Hunan University of Technology

摘　　要：为实现四足机器人的稳定行走,需要对其足端轨迹进行合理规划。首先,以Bezier曲线为基础,规划四足机器人的足端轨迹,并依据足端轨迹约束条件对足端轨迹进行优化;其次,通过多组对比实验确定出最优的一组控制点坐标,设计四足机器人的足端轨迹,并找到最佳的步长和抬腿高度组合;最后,基于Matlab/Simulink搭建仿真平台进行仿真实验,与应用复合摆线规划的足端轨迹在足端落地时的冲击力、质心的波动范围、机体的偏航距离、前进距离4个方面进行比较,分析四足机器人的稳定性。仿真结果表明:采用Bezier曲线规划的足端轨迹,提高了机器人运动的稳定性。In view of realizing a stable walking of quadruped robots,it is necessary to lay out a reasonable plan of its foot trajectory.Based on Bezier curves,the foot end trajectory of quadruped robots has thus been planned,with the foot end trajectory optimized according to the constraint conditions of the foot end trajectory.On the basis of multiple groups of comparative experiments,the optimal coordinates of a group of control points can be determined,followed by a design of the foot end trajectory of the quadruped robot,thus obtaining the optimal combination of step length and leg lifting height.A simulation platform is built based on Matlab/Simulink for simulation experiments,followed by an analysis of the stability of the quadruped robots by comparing it with the impact force of foot end trajectory on foot end landing by using compound cycloid planning,the fluctuation range of the centroid,the yaw distance and the forward distance of the body.The simulation results show that the trajectory of the foot end planned by Bezier curves improves the stability of the robot motion.

关 键 词：四足机器人 足端轨迹 Trot步态 BEZIER曲线 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]