摘要
讨论了四足机器人TITAN—Ⅷ爬行步态的自然约束条件,推导了机器人冗余驱动变量和独立驱动变量之间的位置和速度关系,求解了机器人机体位置和速度的运动学正解。分析表明,只要机器人机体面保持与脚底接触面平行,机器人就能够实现在不平地面上的全方位爬行,而且该正运动学的求解需要解一个一元十六次高阶代数方程。逆运动学分析以及试验都验证了正运动学的求解结果。
The natural constraint conditions of a quadruped robot, called TITAN-VIII, are discussed. The position and velocity relationships between the independent actuation joints and the redundant ones of the robot are also derived from the constraints. Furthermore, the direct kinematic solution of the position and velocity of the body is presented in terms of the independent actuation variables. It is shown that the robot can omnidirectionally crawl on rough ground as long as its body is parallel to the support surfaces of its feet on the ground. It is also found out that the kinematic solution needs to solve a sixteenth-order polynomial equation with an unknown variable. A numerical example is presented and the results are verified by an inverse kinematics analysis and an experiment.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2003年第2期8-12,共5页
Journal of Mechanical Engineering
基金
国家863计划资助项目(2001AA422380)。
