六足机器人步态规划及其静态稳定性研究

Research on Gait Planning and Static Stability of Hexapod Robot

以一种新型六足机器人样机为研究对象,研究机器人直线行走步态及其在该步态下的稳定性.分别规划了一种六足机器人纵向与横向直线行走的三角步态,给出了六足机器人在三角步态下步长以及稳定裕度的计算方法,并分析了六足机器人在三角步态下的静态稳定性.六足机器人采用三角步态直线行走时,不考虑惯性力对机器人稳定性的影响,在其步长满足一定条件时,六足机器人是静态稳定的.

This paper takes a new type hexapod robot as the research object to research the straight walking gait and the stability during the straight walking. This paper plans two kinds of straight walking triangle gait of hexapod robot： one is vertical and the other is horizontal. It gives the meth- od to compute step length and static stability margin of hexa- pod robot and analyses the robot stability under its straight walking with triangle gait. During hexapod robot straight walking with triangle gait without consideration of inertia force, if its step length meets certain condition, hexapod ro- bot is static stability.