四足机器人稳定性判定及越障动作设计  

Stability Judgment and Obstacle Crossing Action Design of Quadruped Robot

作　　者：张文静 贺京杰 赵邑新 ZHANG Wenjing;HE Jingjie;ZHAO Yixin(Academy of Artificial Intelligence,Bejing Institute of Petrochemical Technology,Beijing 102617,China)

机构地区：[1]北京石油化工学院人工智能研究院,北京102617

出　　处：《北京石油化工学院学报》2023年第3期40-49,共10页Journal of Beijing Institute of Petrochemical Technology

摘　　要：机器人在崎岖地形工作有较大的困难,为此研究设计了四足液压机器人。该四足液压机器人的设计是基于四足腿式机器人和轮式机器人的变形,使机器人能够适应更加复杂的地形,包括上/下陡坡、上台阶和过沟壑。首先进行了机器人运动稳定性判定的算法调研,确定了SSM稳定性判定方法更适合分析四足液压机器人的越障运动过程。其次,基于SSM原理设计了多种障碍的越障步态。最终,基于ROS系统在gazebo物理引擎下完成运动仿真。通过计算系统SSM裕度值及物理仿真实验验证了机器人能够安全稳定的越障,证明了越障过程动作设计的有效性。It is difficult for robots to work in rough terrain,so a quadruped hydraulic robot is designed.The design of the four-legged hydraulic robot is based on the deformation of the four-legged and wheeled robot,enabling the robot to adapt to more complex terrain,including up/down steep slopes,up steps and over gullies.Firstly,the algorithm of robot motion stability determination is investigated,and the SSM stability determination method is more suitable for analyzing the obstacle crossing motion process of quadruped hydraulic robot.Secondly,based on SSM principle,the gaits for obstacle crossing are designed.Finally,the movement simulation was completed under gazebo physics engine based on ROS system.Through the calculation of the SSM margin value and the physical simulation experiment,the robot can safely and stably cross the obstacle,which proves the effectiveness of the motion design during the obstacle crossing process.

关 键 词：四足液压机器人 稳定性 步态 越障 仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]