考虑腰部特性的四足机器人腿部构型与足端运动空间估计

Leg Configuration and Foot Motion Space Estimation of a Quadruped Robot Considering Waist Characteristics

为提升四足机器人对复杂路面的适应性,提出一款考虑腰部特性的四足机器人。首先,基于虚拟样机技术,对四足机器人大小腿比例进行优化,获得了兼顾速度与运动稳定性的大小腿最佳比例;以此为基础,运用遗传算法的寻优特征,以空间利用率为目标函数,优化了该机器人的腰部长度;然后,基于D-H法对其进行正运动学分析;最后,利用Matlab软件对足端可达空间进行蒙特卡洛估计,获得了机器人的理想站立高度与步长区间。研究为后续对机器人的步态规划奠定了基础。

In order to improve the adaptability of the quadruped robot to the complex road surface,a quadruped robot with three degrees of freedom on one leg was presented.Firstly,based on the virtual prototyping technology,the ratio of the lower leg was optimized,and the best ratio of the lower leg was obtained,which took into account both the speed and the motion stability.Based on this,the waist length of the robot was optimized by using the optimization feature of the genetic algorithm and taking the space utilization rate as the objective function.Then,the forward kinematics analysis was carried out based on the D-H method.Finally,the Monte Carlo estimation of the foot reachable space was carried out by using the Matlab software.The ideal standing height and step length of the robot were obtained,which laid a foundation for the subsequent gait planning of the robot.