基于地表扫描的轮腿式机器人轨迹生成方法  

Trajectory Generation Method of Wheel-Legged Robot Based on Surface Scanning

作　　者：吴晨皓 赵炯[1] WU Chenhao;ZHAO Jiong(School of Mechanical Engineering,Tongji University,Shanghai 201804)

机构地区：[1]同济大学机械与能源工程学院,上海201804

出　　处：《现代制造技术与装备》2023年第4期69-72,共4页Modern Manufacturing Technology and Equipment

摘　　要：通过非铺装地面时,主动弯曲腿部以维持机身高度,是四足轮腿式机器人在遇到障碍时保持机身稳定、减小冲击震动的一个方法。四足轮腿式机器人独有的足端轮结构使得其能感应、主动贴合地形起伏。通过扫描地表高度生成贴合地表的轮轴运动轨迹,使机器人可以通过弯曲腿部的方式使机身保持固定高度,以提高机器人的运动稳定性。此外,通过检测机身高度的方法,验证了提出轨迹生成方法的可行性。While crossing unstructured terrain,actively bend the legs to maintain the height of the body is an essential method for quadruped wheel-legged robot to keep body steady and reduce impulse vibration in the event of an obstacle.The unique structure of wheel in foot end makes quadruped wheel-legged robot can sense and active fit the undulating of terrain.This paper expounds a method that make the robot’s wheels keep contact force as stable as possible by the method of scanning the height of the ground surface to generate a wheel axis motion trajectory that fits the surface so that the wheel of the robot maintains a stable contact with the ground as much as possible.In this paper,the feasibility of the proposed trajectory generation method is verified by dectecting the height of body.

关 键 词：地表扫描 轨迹生成 轮腿式机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]