基于轨迹关键点的四足机器人步态规划与仿真

Gait planning and simulation of quadruped robot based on key points of trajectory

为了探索高效、合理的四足机器人步态规划方法,保证机器人稳定地行走,利用关键点描述足底运动轨迹,以满足机器人运动参数和结构化环境的要求。同时,结合机器人运动学模型求得关节关键角度集合,并运用三次样条插值得到关节运动函数,进而实现计算机虚拟样机的仿真。仿真结果证明,该步态规划方法得到的关节运动函数能够使得四足机器人实现15个周期以上的稳定和连续运动,验证了该方法的正确性。

Key points were used to describe the foot trajectory to meet the requirements of motion parameters and structure surroundings in order to explore a high efficient and reasonable method of gait planning and stable walking of the robot. At the same time, the kinematics model of robot was applied to obtain the key angle sets of joints. The joints moving function was obtained using three times spline interpolation. Then, the simulation of the virtual prototype was completed. The results showed that this moving functions of gait planning could make the quadruped robot move steadily and continuously with more than fifteen cycles. Therefore, the method of gait planning was verified correctly.