一种四足机器人平面转弯步行规划

Research on Turning Movement Planning for Quadruped Robot in Trotting Gait

在四足机器人转弯运动中,步行设计的复杂程度与多关节的连续协调问题是影响机器人运动控制与稳定性的一个重要方面。提出了一种改进的四足机器人转弯动作规划方法,将足点轨迹在三维空间的规划解耦为两个二维空间的规划,并针对关节摆动的速度不连续问题,将关节摆幅三角函数化,进一步研究了该规划方法对转弯半径的影响,并通过仿真进行了机器人转弯试验。结果表明,机器人中心轨迹为良好的闭合圆周。

The complexity of the leg trajectory generation, and the continuity and smoothness of the motion coordination affect the motion control and the locomotion stability in turning behavior of quadruped robots. In this paper, we propose a new improved strategy to achieve smooth turning be- havior in such a way that the design of the toe＇s trajectory generation in three dimensions is decom- posed into two designs in two dimensions. In addi- tion,we transfer the generation of the angle ampli- tude to sinusoid functions to achieve the continuity and smooth of its speed. Furthermore, we study the effect of this method on the circle radius parameters in turning behavior in simulation and the re- suits show that the robot is able to achieve reliable turning behavior.