摘要
四足机器人在对角小跑运动下的稳定性问题是当前四足机器人研究的热点,故分析了机体力矩对机体运动过程中稳定性的影响,提出一种新的足端轨迹函数。首先对机器人进行运动学分析,参照优宝特型四足机器人建立三维模型并搭建了仿真环境;然后分析机体力矩,得出机体翻转原因,即机体腿部摆动对机体产生的反作用力矩和重力产生的倾覆力矩以及运动中足端所受到的冲击力矩。在此基础上,通过利用机器人摆动腿侧摆关节运动提供一个力矩以平衡部分反作用力矩和倾覆力矩,提出了一种基于三维空间曲线的足端轨迹规划。最后,通过对比仿真实验验证了所提足端轨迹规划的有效性和正确性。
In view of the current hot research topic of stability found in quadruped robots under a diagonal trot motion,an analysis has been made of the influence of the body torque on the stability of the body in motion,with a new foot end trajectory function proposed.Firstly,based on an analysis of the kinematics of the robot,a 3D model and simulation environment are established with reference to the Ubot quadruped robot,to be followed by an analysis of the body torque,thus obtaining the cause of the body turnover,i.e.the reaction torque produced by the swing of the body legs,the overturning torque produced by gravity,and the impact on the foot end in motion.On this basis,by using the lateral swinging joint motion of the robot legs to provide a torque to balance the partial reaction torque and overturning torque,a foot trajectory planning is proposed based on three-dimensional space curves.Finally,the effectiveness and validity of the proposed foot trajectory planning are verified by comparative simulation experiments.
作者
周枫林
陈腾飞
孙晓
王瑾元
龙厚云
ZHOU Fenglin;CHEN Tengfei;SUN Xiao;WANG Jinyuan;LONG Houyun(College of Mechanical Engineering,Hunan University of Technology,Zhuzhou Hunan 412007,China)
出处
《湖南工业大学学报》
2023年第2期50-55,共6页
Journal of Hunan University of Technology
基金
国家自然科学基金资助项目(11602082)
湖南省自然科学基金资助项目(2021JJ30211,2021JJ50043)
湖南工业大学研究生创新基金资助项目(CX2112)。
关键词
四足机器人
反作用力矩
倾覆力矩
三维空间曲线
足端轨迹规划
quadruped robot
reaction torque
overturning torque
three-dimensional space curve
foot trajectory planning