仿壁虎机器人的步态设计与路径规划

Gait Design and Path Planning for a Gecko-like Robot

对仿壁虎机器人的步态规划问题进行探讨,在观察分析大壁虎爬行方式的基础上,总结出1324、伪1324以及对角线三种步态,并简要介绍不同步态规划之间的区别,最终选择对角线步态作为仿壁虎机器人的爬行步态。在此基础上设计仿壁虎机器人的直线位移步态规划和原地转弯步态规划。针对仿壁虎机器人的单足路径规划,根据步态规划结果将每一条步行足的运动过程分为支撑相和摆动相两种状态,通过对路径约束条件的分析,用多项式逼近的方法分别得出仿壁虎机器人单足路径支撑相和摆动相的一般性表达式,为计算关节控制量提供相应的依据。最后结合实际研制的仿壁虎机器人对步态路径规划进行实例仿真分析,得出支撑相和摆动相的位移时间关系,证明用多项式逼近的方法生成的路径曲线具有良好的起落特性,为仿壁虎机器人的稳定姿态爬行移动控制提供了理论依据。

The gait planning of gecko-like robot is discussed. Based on observing and analyzing the way of large gecko crawling, three kinds of gait, 1324, pseudo-1324, as well as diagonal are summed up, and the differences among them are described briefly. The diagonal gait is selected as the robot’s crawling way finally. Based on this, the linear displacement and in-situ turning of gecko-like robot path planning are designed. Aiming at the single leg path planning of robot, according to the result of gait planning, the movement process of each walking leg is divided into two kinds of phase, i.e. support phase and swing phase. Through the analysis of the path constraints, general path expression of the support phase and swing phase are derived by using polynomial approach which can provide the corresponding basis for calculating the amount of joint control. Through the simulation analysis of path planning on gecko-like robot, the relationship between displacement and time of the support phase and swing phase can be obtained, which shows that the polynomial method performs well in launching and landing, thus providing the theoretical basis for the control of stable crawling of gecko-like robot.