基于足端轨迹的仿生四足机器人运动学分析与步态规划

Strategy of foot trajectory for bionics quadruped robots kinematic analysis and gait planning

设计了一种电驱动四足仿生机器人,构造了具有主被动自由度、基于电动缸驱动的机器人腿部关节结构。对机器人进行运动学建模,并借助其运动学模型进行机器人正逆运动学计算,求解出了机器人腿部各个关节的转角函数。针对四足机器人的行走特点,提出一种四足机器人步态规划方法。经过对机构几何关系的分析计算,得到腿部各个关节电动缸位移量驱动函数。仿真实验结果表明,四足机器人在该种算法下可实现连续平稳的行走,初步验证了所提轨迹规划方法、步态及机构设计的合理性和有效性。

A kind of electrically driven quadruped bionic robot is designed, which has the main and passive structure and the ro- bot＇ s leg joint structure based on the electric cylinder. The purpose is to explain how the quadruped robot walks. D-H coordinates are given a kinematic calculation method. Kinematic modeling, the inverse kinematics calculation of robot with the aid of kinemat- ic model ,the corner function of the joints of the robot was solved. A method of gait planning for a four legged robot is proposed for the walking of a robot. Simulation experiments show that, the robot walks stably, the foot trajectories are smooth and the undulation of body has small amplitude.