基于远程拖拽编程的智能机器狗步姿建模与步态变换

Intelligent Machine Dog Step Based on Remote Drag and Drop Programming Appearance Modeling and Gait Transformation

以舵机控制的单腿2自由度、整体8自由度的四足机器狗为研究对象,结合四足仿生机器狗运动学模型,提出了一种远程鼠标拖拽动作编程的运动控制方法;利用不同平面内的坐标变换得出三维坐标向二维坐标的映射关系,在虚拟环境中简化机器狗模型;同时,建立了PC与机器狗的连接系统,进行机器狗的远程动作控制。通过测试实验,验证了拖拽动作编程的可行性与映射关系的准确性。实验结果表明,在拖拽动作编程控制下,PC与机器狗的连接系统能让四足仿生机器狗按照给定的程序进行实时动作。

This paper takes the single-legged 2 degrees of freedom and the overall 8 degrees of freedom as the research object,combined with the four-legged bionic dog kinematic model,proposes a motion control method,obtains the mapping relationship between the three-dimensional coordinates to the two-dimensional coordinates in the virtual environment;at the same time,the PC and dog link system is established to control the remote action of the dog.The test experiment proves the feasibility of the drag action programming and the mapping accuracy.The experimental results show that under the programming control of the PC and the robot dog link system,the quadruped bionic robot dog can move in real time according to the given program.