摘要
以四足机器人为研究对象,对机器人足端轨迹进行3种轨迹规划。以机器人质心稳定为原则,在trot对角步态下对每种足端轨迹进行仿真分析,从而选择出最优的足端轨迹。为trot步态下四足机器人足端轨迹规划研究提供了新思路和新方向。
With the quadruped robot as the research object,3 kinds of trajectory plan are carried out on the robot's foot-end trajectory.Based on the principle of robot centroid stability,each foot-end trajectory is simulated and analyzed under the trot diagonal gait,so that the optimal foot-end trajectory can be selected.It provides a new idea and a new direction for the research on the planing of foot-end trajectory of quadruped robot under the trot gait.
作者
闫国杰
刘士宾
陈雄武
Yan Guojie;Liu Shibin;Chen Xiongwu(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《农业装备与车辆工程》
2020年第6期54-57,共4页
Agricultural Equipment & Vehicle Engineering
