基于四脚支持的四足机器人斜面步行研究

Research of a quadruped robot walking on a slope based on 4-leg supporting period

针对四足机器人在斜面等非水平面环境下的全方位静态步行方法和步态转换过程中的稳定性问题进行了深入分析,提出了通过设定坐标系、求解脚可动范围和可动领域、稳定裕度计算及步态转换的方法,解决了机器人在斜面环境下倾倒的问题。通过建立仿真平台完成了实验验证,证明了所提出观点的有效性和科学性。

In this paper,the omni -directional static walking method and problems with the stability in gate transition processes oninclined plane and uneven terrain was deeply analyzed. We solved the tumble problems that walking on uneven terrain for quadrupedrobot through installing coordinate systems and solving leg movement area and computing stability. Simulation platform was establishedand experiments were executed to show the validity and scientific of the opinion.