摘要
为了研究八足仿蟹机器人的步态方法,分析了生物螃蟹的运动特点,对八足仿蟹机器人的步序和步态参数进行了规划研究.通过研究相位因子变化对步态的影响,提出交错等相位波形步态.在满足步态稳定性和速度要求的前提下,计算出最小步足占空比.将能耗比作为步态性能的评价标准,对步态能耗进行分析,当相位因子为0.25时,能量损耗达到最小,而步足占空比与能量损耗成正比.步态仿真与实验结果表明,交错等相位波形步态与双四足步态相比具有更好的行走稳定性和较低的能耗比.
In order to study gait planning methods of an eight-legged crab-like robot,the pace order and gait parameters were planned based on analysis of the crab＇s motion traits.An alternating equal-phase wave gait was put forward after considering the effect of the variable phase factor of the successive legs within a tetrapod group.The minimum duty factor was obtained when the gait stability condition was fulfilled along with the velocity requirement.As the evaluation standard of the gait＇s performance,the energy consumption ratio shows that the smallest energy consumption ratio can be achieved when the phase factor is equal to 0.25 and the duty factor is proportional to the energy consumption ratio.Simulation and experiment results show that the alternating equal-phase wave gait can achieve more favorable gait stability and a smaller energy consumption ratio than the double tetrapod gait.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2011年第4期486-491,共6页
Journal of Harbin Engineering University
基金
国家自然科学基金资助项目(60875067)
黑龙江省自然科学基金资助项目(ZD200911)
关键词
仿蟹形机器人
步态规划
相位因子
能耗比
crab-like robot
gait planning
phase factor
energy comsumption ratio
