摘要
四足机器人爬行控制的关键是关节位姿的确定、机器人稳定性的判断和摆动腿顺序的选择。提出了一种求解关节位姿驱动变量的有效方法,此方法能获得满意的四足机器人步行步态。通过定义立足点的静态稳定区域提出了一种机器人稳定性分析的新方法,该方法不仅避免了复杂的机器人正动力学求解问题,同时还可给出机器人稳定性和立足点稳定范围的信息。实际爬行实验验证了所提方法的有效性。
Determination of joint positions, judgment of robot stability, and selection ot the consequential swing leg are keys to crawling control for quadruped robots. We derived an efficient way to obtain actuation variables of joint positions to satisfy the gait of quadruped robots. By defining the statically stable area for foot placement, a new approach on analysis of robot stability was presented. Unlike conventionally, we avoided solving complicated direct robot kinematics as an overall kinematics chain and simultaneously show information on robot stability and the stable range of foot placement. Effectiveness is shown in practical crawling experiments.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2005年第17期1561-1566,共6页
China Mechanical Engineering
基金
国家自然科学基金资助项目(60375034)
