六足机器人爬坡性能分析及步态选择

Hill-Climbing Performance Analysis and Gait Selection of Hexapod Robot

具有良好的爬坡性能对于六足机器人有着重要意义,首先,介绍六足式弧腿机器人的结构,从其常见步态中分析利于爬坡的三角步态及同步步态,其次,根据所定义的步态参数对比分析两种步态下的爬坡速度,计算爬坡时的稳定裕度,以分析两种步态下的稳定性,通过建立腿部的动力学模型,推导出不同步态下的最大爬坡角,最后,根据仿真和实验的数据验证理论分析的正确性,从而为六足机器人爬坡时的步态选择作出参考。

It is of great significance for hexapod robot to possess a good hill-climbing performance.The structure of hexapod robot is introduced. From its common gait,the triangular gait and synchronous gait are chosen for climbing .According to the defined gait parameters,the climbing speed is contrastively analysed.To analyse the stability in different gaits, the stability margin is calculated. The mathematical expression of maximum climbing angle is deduced by the dynamic model for legs built before.At last,the correctness of theoretic analysis is proved by the simulation and experiments, so as to make reference to the gait choice when climbing.