摘要
设计一种液压四足机器人仿生机构,通过设定相应的坐标系为机器人进行运动学建模,并对行走过程中单腿的相位关系进行了分析。针对行走过程中足端的拖地、滑动和接触冲击等问题,提出一种零冲击的足端轨迹规划改进算法,并实现了步态规划算法设计。步态规划根据步态中各腿间的相位关系,借助四足机器人运动学模型进行逆运动学解算,求出各腿的关节角度函数,利用机构的几何关系得到各液压缸伸缩量控制函数,对试验样机各腿进行伺服驱动控制,从而实现液压四足机器人的步态规划行走。仿真试验结果表明,在该策略驱动控制下液压四足机器人行走过程连续平稳,样机足端轨迹较为平滑,躯干起伏较小,证明了该足端轨迹规划方法用于四足机器人步态设计的合理性和有效性。
In order to solve the leg dragging, sliding and impingement against the ground of a quadruped walking robot, a low contact impact gait planning method with particular attention on foot motion trajectory is proposed. After analyzing the leg phases of a four-legged mammal in walking, the foot trajectory generation method is used for a single leg. By applying it to four legs of the hydraulically actuated bionic quadruped robot that has been designed according typical gaits of mammals, a walking pattern generator is constructed. Joint angle functions are solved by inverse kinematics employing legs phases in typical gaits and the displacement for rods of hydraulic cylinders by mechanism. Thereby, gaits of prototype robot could be driven by there lengths. Simulation experiments show that the robot walks stably at the speed up to 0.8 m/s on the even surface, the foot trajectories are smooth and the undulation of body has small amplitude.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2013年第1期39-44,共6页
Journal of Mechanical Engineering
基金
国家高技术研究发展计划资助项目(863计划
2011AA041002)
关键词
足端轨迹
接触冲击
步态规划
四足机器人
运动控制
Foot trajectory Contact impact Gait planning Quadruped robot Locomotion control
