摘要
六足机器人在控制灵活的同时,也存在步态规划策略制定困难等问题,尤其当其遇到不可逾越的障碍时,这一问题更为严重.针对此问题,提出了一种障碍自识别步态规划策略.此策略以正逆运动学解算为基础并建立D-H坐标系,进而对每条腿进行齐次坐标变换,并根据足末端力反馈来自动识别障碍做出旋转和越障步态规划.通过ADAMS的仿真结果分析,验证了该策略的正确性和普适性.
The hexapod robot has multiple degrees of freedom in the control flexibility. However, it has gait planning strategy formulation difficulties. In this paper, we propose an obstacle self-identify planning strategy. The strategy is based on the forward and inverse kinematics solver, and it builds the D-H coordinate system, and makes each leg in homogeneous transformation. The rotation and crossing obstacles gait planning are made by the foot end force feedback to automatically identify the barriers. Through the analysis of ADAMS simulation results, the cor- rectness and universality of the obstacle self-identify rotation gait planning strategy is verified.
出处
《哈尔滨理工大学学报》
CAS
2013年第5期42-46,共5页
Journal of Harbin University of Science and Technology
基金
国家自然科学基金(51275106)
关键词
六足机器人
自识别
越障步态
旋转步态
hexapod robot
self-identify
obstacle gait planning
rotation gait planning
