两栖仿生机器蟹的单足路径规划和生成

Leg trajectory planning and generation for a bionics crab-liked robot

以两栖仿生机器蟹为对象,对步行足单足的路径规划和生成问题进行了探讨.通过对步行足足尖点路径所需满足的条件的分析,分别对处于摆动相和支撑相的步行足采用六次和五次多项式逼近的方法得出了单足路径的一般性表达式,在支撑相路径规划时,采用了相对运动法.采用这种多项式逼近的方法,结合一个算例对两栖仿生机器蟹的单足路径进行了规划和生成关节控制量的运动学反解,通过计算机仿真得到的结果验证了此种路径规划方法能够得出良好的足尖路径曲线,以及良好的起落特性,可以应用于两栖仿生机器蟹的单足控制当中.

The single leg trajectory planning and generation with a bionics crabliked robot were discussed.General trajectory expression was derived by using sixorder and fiveorder polynomial for swing phase and supporting phase respectively.In supporting phase trajectory planning,relative movement approach was adopted.Using this polynomial method,single leg trajectory planning of bionics crabliked robot was done,as well as inverse kinematics for joint viable generating for an example.Simulation results show that the trajectory generated by this method is favorable and performs well in launching and landing.