基于复杂地形的四足机器人路径规划算法研究

Research on Path Planning Algorithm of Quadruped Robot Based on Complex Terrain

针对四足机器人在复杂环境中摆动腿路径点规划不准确的问题,提出一种基于摆动腿路径规划的样条优化算法。该算法运用零力矩点(ZMP)稳定性准则,在对机器人COG轨迹进行规划的基础上,对机器人摆动腿足端轨迹路径点进行优化计算,并利用ADAMS建立其仿真模型用于计算机仿真。结果表明:该算法不仅能保证四足机器人安全避障,且能实现在复杂地形条件下平稳行走,验证了该算法的准确性和鲁棒性。

In order to solve the problem of inaccuracy of path point planning of quadruped robot swing leg in a complex environment, a spline optimization algorithm based on swing leg path planning was proposed. In this algorithm, the zero moment point(ZMP) stability criterion was used, the path points of the foot end trajectory of the robot swing leg were optimized on the basis of planning the COG trajectory of the robot, and the simulation model was established by using ADAMS for computer simulation. The results show that by using this algorithm, not only the safety of the quadruped robot to avoid obstacles can be ensured, but also the smooth walking under complex terrain conditions can be realized, the accuracy and robustness of the proposed algorithm are verified.