坡面环境四足机器人对角小跑步态稳定性分析  

Stability Analysis of Trot Gait on the Slope for a Quadruped Robot

作　　者：展振龙 杨杰[1] 胡继港 韩超 祝晓轩 张斌 ZHAN Zhenlong;YANG Jie;HU Jigang;HAN Chao;ZHU Xiaoxuan;ZHANG Bin(College of Mechanical and Electrical Engineering,Qingdao University,Qingdao 266071,China;Qingdao Qingzhao Tendering Co.,Ltd.,Qingdao 266100,China)

机构地区：[1]青岛大学机电工程学院,山东青岛266071 [2]青岛青招招标有限公司,山东青岛266100

出　　处：《青岛大学学报（工程技术版）》2023年第2期99-104,共6页Journal of Qingdao University(Engineering & Technology Edition)

基　　金：山东省自然科学基金资助项目(ZR2021MF025)。

摘　　要：针对四足机器人在坡面行走过程中,机体质心在支撑面上的投影远离对角支撑线交点,影响四足机器人行走稳定性的问题,本文主要对坡面环境四足机器人trot步态稳定性进行分析。以Stanford Doggo四足机器人为仿真模型,提出了调整机器人姿态和调整等效腿长参数相结合的方法,使四足机器人质心前移,减小四足机器人的翻滚角和偏航角,提高四足机器人坡面行走的稳定性。采用分段摆线轨迹,对四足机器人足端轨迹进行规划,并通过webots机器人仿真软件,对3种质心调整方法进行仿真实验。仿真结果表明,3种质心调整方法均可以减小四足机器人坡面行走的翻滚角和偏航角,四足机器人坡面行走的稳定性得到了提高,而且通过对仿真结果进行对比,本文所提的质心调整方法具有显著的优势。该研究具有一定的应用价值。For the problem that the projection of the body′s mass center of robot on the supporting surface is far away from the intersection of diagonal support lines during the quadruped robot walking on the slope,which affects the trotting stability of the quadruped robot,this paper mainly analyzes the trot gait stability of quadruped robot in the slope.Taking Stanford Doggo quadruped robot as simulation model,a method combining adjust robot posture and adjust leg equivalent length is proposed to move the body′s mass center of robot forward,reduce robot′s roll angles and yaw angles and improve the stability of the quadruped robot trotting on slope.At the same time,the piecewise cycloid trajectory is used to plan the foot trajectory of the quadruped robot,and the simulation experiment of three methods of the center mass of robot adjustment is carried out by webots.The simulation results show that three methods can reduce the roll angles and yaw angles of quadruped robot trotting on the slope,and the stability of quadruped robot trotting on the slope is improved.Moreover,by comparing the simulation results,the centroid adjustment method proposed in this paper has significant advantages.This research has certain application value.

关 键 词：四足机器人 质心调整 trot步态 未知坡面 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]