四足步行机器人稳定性步态规划

Stability Gait Planning of Four-legged Walking Robot

该文对自主设计的四足步行机器人进行了腿部结构的运动学分析,讨论了周期、步距、负载因子等步态设计参数对步态稳定性的影响,计算了各关节舵机的转动量,提出了从起步到稳定行走的步态调整过程及稳定步态图。验证了所规划的步态能达到稳定性要求。

Based on the independent design four-legged walking robot, a leg structure of kinematics is analyzed, the influence of duty factor, cycle time and step distance to the stability of gait is diseussed, each joint of steering gear turn momentum is calculated, the adjustable starting-to-stable walking gait process and stable gait figure is introduced. The planned gait can satisfy the demand of stability in gait.