考虑实际约束的机器人地壁过渡运动研究

Robotic Ground to Wall Transition Programming with Real Constraints

探讨了三自由度新型足掌机构实际约束的特殊性，提出了简化过渡运动规划建模“假想拆掌法”和“虚拟面”概念和方法．对规划目标和影响因素进行了一定的分析．通过实际算例的计算机仿真，验证了椭圆轨迹交替三足过渡步态行走策略的可行性．

The ground to wall transition programming of a multi legged robot with actual constraints is more complicated than that with ideal constraints. After discussing the specific characteristics of actual constraints for a newly developed leg pad mechanism with three degrees of freedom, the so called “virtual pad removal” and “virtual surface” concepts are proposed in order to simplify transition gait programming, and the goal function and influencing factors are discussed. By means of computer simulation of an actual example, the feasibility of transition motion strategy of alternating tripod gait with the robot's body centerpoint moving along elliptic trajectory is verified.