一种新型四足变胞爬行机器人的步态规划研究

Gait Planning of a Novel Metamorphic Quadruped Robot

随着移动机器人在探测救援中的应用逐渐增多,活动灵巧、环境适应能力强的多足机器人越来越受到国内外学者的关注。介绍一种腰部可以活动的四足机器人的设计及其步态生成,并展示了活动腰部可提升机器人对极端环境的适应性。提出三个基本假设以简化机构模型,提出腰部构态变换规则,并用几何方法说明了腰部构型变化可扩大机器人腿部活动空间,从而提升对复杂环境的适应性。另外,腰部运动与步态融合,生成了两种新的基本步态——扭腰直行步态和原地旋转步态。基于提出的两种步态,对比了固定腰部与可动腰部条件下运动稳定裕度的变化,分别计算了狭窄弯道通过条件,并分析了所设计步态对头部视觉的影响,从而证明所设计机器人具有较高的极端环境适应能力。

Mobile robots raised much interest in recent years due to their maneuverability in complicated environments.A novel quadruped robot which has a changeable waist and possess new gaits is introduced.Based on the kinematics model,the reconfigurable waist of the novel metamorphic quadruped robot is analyzed and the body configuration switching rules are proposed.The reachable area of robot leg is compared with a normal quadruped of a rigid waist.Taking waist action into consideration,two novel gaits,i.e.twisting forward gait and spinning gait,are designed and their processes are described.To demonstrate advantages of the metamorphic waist,stability margin of a rigid-body gait and that of the reconfigurable-body gait are compared,the minimum size of a narrow corner for the robot to walk through is calculated and the constraints to achieve the smooth motion of the visual point and center of gravity of body（COG） are analyzed.