双足机器人蹲式行走步态的设计与研究

Design and Research of Squat Walking Gait for Biped Robot

双足机器人具有结构复杂、系统耦合度高的特征,步态行走易受外部环境干扰。为有效提高双足机器人的行走稳定性,设计了一种蹲式行走步态。根据结构特点进行自由度配置,并完成运动学模型的建立。文章阐述了双足机器人蹲式行走步态的过程,对其质心及关键关节进行轨迹规划,并搭建了双足机器人实验平台。实验结果表明:在蹲式步行过程中,运动轨迹偏差小于0.5 cm,有利于保证行走时的稳定性。

Biped robot has the characteristics of complex structure and high system coupling,and its walking gait is easily disturbed by external environment.In order to improve the walking stability of biped robot,a squat walking gait is designed.According to the structure characteristics,the degree of freedom is configured,and the kinematic model is established.In this paper,the process of squat walking gait of biped robot is described,the trajectory planning of its center of mass and key joints is carried out,and the experimental platform of biped robot is built.The experimental results show that the motion trajectory deviation is less than 0.5 cm,which is beneficial to ensure the stability of walking.