摘要
针对四足机器人的步态规划,首先分析四足动物一般的行进步态,得到摆动相与支撑相的函数关系,以及各关节的扭转角度等信息.根据以上条件,求取足部与地面的摩擦因数、关节的驱动函数等参量,确定四足机器人的脚步规划次序.使用MATLAB和ADAMS对四足机器人虚拟模型进行仿真,采集到了慢速步行、对角小跑的运行状态.再通过仿真及实验数据参量,分析四足机器人规划方案的运行情况,最后在物理样机上进行验证.实验结果表明,内膝肘式四足机器人可以完成仿真动作,行进中的速度约为35 mm/s,竖直方向的起伏较小,横向方向的稳定性较好,不会产生大的偏移量.
For the gait planning of the quadruped robot,firstly analyze the general progress of the quadruped,and obtain the functional relationship between the swing phase and the support phase,as well as the torsion angle of each joint.According to the above conditions,the friction coefficient between the foot and the ground,the driving function of the joint and other parameters are determined to determine the step planning sequence of the quadruped robot.The virtual model of the quadruped robot is simulated by MATLAB and ADAMS,and the slow walking and diagonal trot are collected.The running state,through the simulation and experimental data parameters,analyzes the operation of the quadruped robot planning scheme,and finally verifies the experimental results on the physical prototype.The experimental results show that the quadruped robot with inner knee and elbow can complete the simulation action,the speed is about 35 mm/s,the vertical undulation is small,the lateral stability is good,and there is no large offset.
作者
付晶
党宏社
王亚波
刘丽萍
茹锋
王萍
FU Jing;DANG Hong-she;WANG Ya-bo;LIU Li-ping(RU Feng 2,WANG Ping 2(1.School of Electrical and Control Engineering,Shaanxi University of Science&Technology,Xi′an 710021,China;School of Electronics and Control Engineering,Chang'an University,Xi′an 710064,China)
出处
《陕西科技大学学报》
CAS
2020年第3期138-144,共7页
Journal of Shaanxi University of Science & Technology
基金
中央高校基本业务费科研计划项目(300102329202)。