四足仿生机器人斜面行走的运动研究

Research on the Movement of Bionic Quadruped Robot Walking on a Slope

以岩羊为仿生对象,开发出一款适用于山地行走的四足机器人,重点研究其斜面运动。首先对三段式的腿部结构进行运动学建模,然后对机器人的斜面直线行走做出规划,最后进行仿真验证。仿真结果表明,机器人可以在斜面上保持连续平稳地运动;给出了一种通过控制身体俯仰角来实现斜面连续平稳运动的方法,为四足机器人实现山地环境的运动提供了参考。

Taking the blue sheep as the bionic object, develop a quadruped robot suitable for mountain walking was developed, and its movement on a slope was mainly explored. Firstly, the kinematics of the three-segmented leg was modeled, and then the robot's movement on a slope was planned. Finally, the feasibility of motion planning algorithm was proved by simulation. Results show that the robot can keep steady and continuous motion on a slope. This paper presents a method to control the pitch angle of the body to achieve a continuous and smooth movement on a slope, and provides a reference for quadruped robot to realize the movement in the mountains.