仿生四足机器人对角步态规划及稳定性分析

Trotting Gait Planning and Stability Analysis for a Biomimetic Quadruped Robot

以仿生四足机器人作为研究对象,为改善对角步态的稳定性,提出了通过改变对角步态中支撑足的初始位置来提高机器人运动稳定性的方法。通过支撑足位置参数n来改变其初始支撑位置,仿真表明:n从0开始递增直至0.3,稳定性逐渐提高;在n=0.3附近翻转角达到最小,机身偏转最小,稳定性最好;n>0.3之后稳定性又逐渐减弱;此外在步态规划中研究发现以复合摆线作为足端轨迹相比于椭圆曲线更有利于机器人行走的稳定性。仿真与实验证明了该方法的准确性以及可行性。因此,通过调整支撑足的初始位置以及选择复合摆线作为足端轨迹能使机器人的稳定性有较大提高,为仿生四足机器人的对角快速稳定行走奠定基础。

To take bionic quadruped robot as research object, in order to improve the stability of the diagonal gait, an approach of changing the initial position of the support foot in a diagonal gait to improve the robot motion stability was put forward. Throught to adjust the supporting foot location parameter n its initial support position is changed. The simulation showed that ： n starts from 0 up to 0. 3, the stability is gradually increased ; flip angle re- duces to a minimum in the vicinity of n = 0. 3 , and the fuselage deflection also gets to a minimum, which indicates a best stability ; stability gradually weakens after n 〉 0.3 ; comparing compound cycloid to the elliptic curve as the foot trajectory of bionic quadruped robot, that also is found, in gait planning, compound cycloid is more conducive to the stability of robot＇ s walking. Simulation and experiments show that the method is accurate and feasible. Therefore, by adjusting the initial position of the support foot and selecting the composite cycloid as the foot trajectory, the stability can be greatly improved for the bionic quadruped robot＇ s walking, which makes foundation for fast and stable diagonal walking.