四足机器人动态步行仿真及步行稳定性分析

Simulation of Dynamic Walking of Quadruped Robot and Analysis of Walking Stability

为了研究影响四足机器人动态稳定步行的因素 ,使用ADAMS虚拟样机软件对四足步行机器人动态步行进行运动仿真。文中详细叙述了从机器人的运动轨迹规划、将MATLAB计算数据输入ADAMS ,到由ADAMS施加力和约束、建立步行机器人虚拟样机的具体方法和步骤。从理论及仿真结果两方面对影响机器人稳定步行的因素进行了较全面的分析和验证 ,如步长、步行周期、起步等。通过虚拟样机实验弥补了由于客观条件限制无法在物理样机上进行的部分实验内容 ,发现了机器人起步方式对步行稳定性具有明显影响并进行了分析。研究结果及所用的MATLAB

To study influence factors of quadruped dynamic walking robot on walking stability, ADAMS virtual prototype software is used to simulate dynamic walking of quadruped. Methods and procedures of trace planning, imputing data from MATLAB into ADAMS, application of load and virtual prototype modelling are stated in this paper. The influencing factors on walking stability are analyzed according to theory and simulation results, such as stride length, walking cycle period and initial stance. Some experiments which cannot be done with real prototype have been done with the virtual prototype created by us. Influences of initial stance on walking stability of the robot is also revealed and analyzed. It may be useful for design, research and simulation experiment of quadruped walking robot.