有脊椎四足机器人递阶CPG步态规划与速度分析

The Gait Planning and Velocity Analysis of a Hierarchical CPG with Spine Quadruped Robot

针对动物脊椎协调运动分析以及不同速度下的步态参数分析困难等问题,为了更好的控制输入速度,产生相适应的步态模式,设计三层递阶式网络步态规范方法。分析trot步态下速度与角频率ω的关系;分析bound步态下速度与髋关节幅值A_h之间的关系;通过Webots仿真分别验证了trot和bound步态下各自速度与步态参数之间映射关系的合理性。通过误差分析,角频率误差在0.25 rad/s左右,髋关节幅值误差在0.02 rad左右;在bound步态下,通过加入脊椎,对比仿真分析得出,脊椎运动可加快机器人速度,同时改变肢体和脊椎幅值相比于只改变肢体幅值更合理。

It is difficult to analyze the coordinated motion of the animal's spine and the gait parameters at different speeds.In order to better control the input speed and generate a suitable gait pattern,a three-layer hierarchical network gait specification method was designed.The relationship between velocity and angle frequency ω in trot gait was analyzed.And the relationship between velocity and the amplitude of the hip Ah in bound gait was also analyzed.The rationality of the mapping relationship between the respective velocity and gait parameters in trot and bound gait was verified through Webots simulation.Through the error analysis,the error of the angular frequency is about 0.25 rad/s,and the error of the amplitude of the hip is around 0.02 rad.In the bound gait,by adding the spine,the comparative simulation analysis shows that the spine movement can speed up the robot,while it is more reasonable to change the amplitudes of the limb and spine than to change only the amplitude of the limb.