摘要
推导了四足步行机器人的动力学模型,在此基础上利用平方规划方法研究开发四足步行机器人脚力分配的新算法.这种方法既考虑电机模型,分析了四足步行机器人的关节驱动约束条件,又结合摩擦等约束分析及转换,建立了机器人多约束方程,利用平方规划提高解的质量,并缩减解的规模.最后通过实例验证了该算法的优越性.
The dynamic model for quadruped robots was derived. On the basis of the derivation, the new algorithm for force distribution of quadruped robots was established by quadratic programming. The electric engine model was considered, and the constraints of the joint-drive of quadruped robots were analyzed. The constraint equation for the robots was established by combining the constraints analysis of friction and its transformation, etc. The solution was improved qualitatively and the scale of the solution reduced by quadratic programming. The superiority of the algorithm was verified by examples.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2005年第12期12-15,共4页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(60375034)
关键词
四足机器人
力规划
二次规划
关节驱动约束
quadruped robot
force programming
quadratic programming
joint-drive constraints
