基于俯仰位姿调整的四足机器人爬坡运动策略

Research on climbing motion strategy of quadruped robot based on pitch pose adjustment

为解决四足机器人在爬坡过渡位置足端打滑和运动连续性差的问题,提出了一种基于俯仰位姿调整的四足机器人静步态爬坡运动策略.首先建立了四足机器人在坡底、坡面和坡顶三个运动阶段的准静态平衡模型;接着定义了打滑率和倾覆率两个无量纲量作为机器人的爬坡性能评价参数;然后通过求解准静态平衡模型得到机身位姿参数与爬坡性能评价参数的映射关系,并根据此映射关系为四足机器人制定了高效的爬坡位姿调整策略.仿真实验结果表明:提出的爬坡运动策略通过调整四足机器人的机身俯仰位姿,改善了机器人在过渡位置打滑和运动连续性差等方面的运动性能,提高了机器人的爬坡稳定性和运动效率.

In order to solve the problems of slipping and poor motion continuity of quadruped robot at the transition position of climbing,a climbing motion strategy based on the pitch pose adjustment was proposed.Firstly,three quasi-static models of the quadruped robot at the bottom,the surface and the top of the slope were established,and two dimensionless quantities,the slip rate and the overturning rate,were defined as the evaluation indicators of the robot′s climbing performance.Then,the mapping relationship between the body pose parameters and the evaluation indicators was obtained by solving the quasi-static models,and an efficient pose adjustment strategy was formulated according to the mapping relationship.The simulation results show that the strategy proposed improves the motion performance of the quadruped robot in terms of slipping and poor motion continuity at the transition position by adjusting the body pitching pose,and improves the climbing stability and motion efficiency of the robot.