仿生六足机器人步态设计与运动仿真  

Gait Design and Motion Simulation of Bionic Hexapod Robot

作　　者：马秀峰 张奇峰[1,2,3] 孙英哲[1,2,3,5] MA Xiu-feng;ZHANG Qi-feng;SUN Ying-zhe(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;Key Laboratory of Marine Robotics,Liaoning Province,Shenyang 110169,China;College Of Information Science and Engineering,Northeastern University,Shenyang Liaoning 110819,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [3]辽宁省水下机器人重点实验室,辽宁沈阳110169 [4]东北大学信息科学与工程学院,辽宁沈阳110819 [5]中国科学院大学,北京100049

出　　处：《计算机仿真》2023年第2期255-260,269,共7页Computer Simulation

基　　金：辽宁省青年拔尖人才项目(XLYC1807174)。

摘　　要：仿生六足机器人稳定性好、灵活度高在众多领域得到了使用。为实现对六足机器人的运动控制和性能分析,通过构建机器人D-H连杆坐标系结合机械结构参数,确定了运动学正解、逆解表达式;设计可修改参数的机器人行走参考步态,引入了控制机体保持水平的姿态控制和适应不平整地形的腿着陆控制。以MATLAB的Simulink作为仿真环境,构建机器人模型,完成运动仿真,并对测量到的运动数据和腿部关节输出力矩进行分析。其结果表明,机器人能够跟随所设计步态生成的轨迹连续稳定行走,使用基于模型设计的方法,验证了所提算法的正确性和可行性,最后得到了腿部各关节力矩分布,为后续六足机器人设计与运动控制提供参考。Bionic Hexapod Robot has good stability and high flexibility,and has been used in many fields.In order to realize the motion control and performance analysis of the hexapod robot,the forward and inverse kinematics expressions are determined by constructing the robot D-H link coordinate system and combining with the mechanical structure parameters.A reference gait with modifiable parameters was designed,and the attitude control of keeping the body level and the landing control of legs adapted to uneven terrain were introduced.Taking MATLAB’s SIMULINK as the simulation environment,the robot model was constructed,the motion simulation experiment was completed,and the measured motion data and the output torque of the leg joint were analyzed.The results show that the robot can follow the trajectory generated by the designed gait continuously and stably.The correctness and feasibility of the proposed algorithm are verified by using the model-based design method.Finally,the torque distribution of each joint of the leg is obtained,which provides a reference for the subsequent design and motion control of the Hexapod robot.

关 键 词：六足机器人 运动学 步态设计 运动仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]