四足机器人爬行凸起上坡的运动仿真研究

Study on the motion simulation of a quadrupedrobot climbing a raised hill

针对斜坡凸起环境下四足爬行机器人上坡时腿部受较大地面冲击的问题,设计了一种四足机器人的爬坡步态。首先,建立了三维柔性腿部结构模型;接着,针对斜坡凸起路面,对平坦路面下对角小跑步态的抗冲击性和稳定性进行了优化设计;然后,通过机器人单腿正、逆运动学分析,获得了斜坡对角小跑步态下四足机器人足端轨迹与关节角度的映射关系;最后,在斜坡凸起环境下对四足机器人进行了爬行运动仿真。研究结果表明:与平坦对角小跑步态相比,采用斜坡对角步态的四足爬行机器人质心位移更加平稳,其胫节足端接触力峰值较平坦对角小跑步态减小了8.05%,验证了所设计的爬坡步态的合理性。

Aiming at the problem that the legs of the quadruped crawling robot were impacted by the ground when the robot worked on the raised terrain of slope,a climbing gait of the quadruped robot was designed.First,the three-dimensional flexible leg structure model was established.Then,aiming at the raised terrain of slope,impact resistance and stability of trot gait under flat pavement was optimized.Then,by the forward and inverse kinematics analysis of the single leg of the robot,the mapping relationship between the foot trajectory and the joint angle of the quadruped robot with the slope trot gait was obtained.Finally,the motion simulation of leg structure was carried out on the raised terrain of slope.The experimental results show that comparing with the flat trot gait,the quadruped crawling robot with slope trot gait has more stable center of mass displacement,and the peak contact force of the tibial foot is reduced by 8.05%.The rationality of the designed climbing gait is verified.