四足机器人典型步态仿真

Typical Gait Simulation of the Quadruped Robot

四足机器人相对于双足机器人在稳定性和承载能力上要好,而相对于六足和八足步行机器人在结构和控制上比较简单,因此四足步行机器人已经成为移动机器人领域研究的热点之一。文中运用Solid Works、ADAMS和Mtalab/Simulink建立机器人仿真模型,并在仿真系统中对机器人进行平面直线行走步态的仿真研究,并对质心速度均匀和非均匀情况下的机器人运行效率、足尖地面碰撞力、单腿髋关节力进行了仿真与分析。经仿真验证:相对于质心速度非均匀步态,质心速度均匀的步态在机器人运行稳定性和运行效率方面均得到很大的提高,而对足尖碰撞力和单腿髋关节力影响较小。

Quadruped robot relative to ttle biped robot has better stabilitv and carrying capacity, and relatively simple in structure and control relative to the six-legged and eight-legged walking robot, quadruped walking robot has become one of the hot research in the field of mobile robot. A four-legged robot simulation system is established by using SolidWorks, Adams and Mtalab/Simulink to simulate the plane straight gait including uniform and non-uniform robot operating efficiency, toe ground collision force, leg hip joint fnree etc. It is shown that with respect to the centroid of non-uniform speed and gait speed of tbe center of nmss, the toe impact force and leg hip torque in uniform gait is improved.