基于五次多项式的四足机器人轨迹规划

Trajectory Planning of Quadruped Robot Based on Fifth-order Polynomial

为达到四足机器人在地面上稳定、连续行走,不出现打滑、侧翻等现象的目的,提出一种基于walk静步态的五次多项式足端轨迹规划方法。首先利用D-H坐标法推导四足机器人单腿的运动学方程,由运动学逆解得到四足机器人足端轨迹和关节角之间的关系。将水平和竖直方向的约束方程代入五次多项式,分别求出支撑相和摆动相的足端轨迹方程。最后通过将轨迹方程代入MATLAB和ADAMS中进行仿真验证,实验结果验证了该轨迹规划方法的正确性。

In order to achieve the goal of a quadruped robot walking stably and continuously on the ground without slipping or turning over,a fifth-order polynomial foot trajectory planning method based on walk static gait is proposed.First,use the D-H coordinate method to derive the kinematics equation of the quadruped robot's single leg,and obtain the relationship between the trajectory of the quadruped robot's foot end and the joint angle from the inverse kinematics solution.Substituting the constraint equations in the horizontal and vertical directions into the fifth degree polynomials,the foot-end trajectory equations of the support phase and the swing phase are obtained respectively.Finally,by substituting the trajectory equation into MATLAB and ADAMS for simulation verification,the experimental results verify the correctness of the trajectory planning method.