摘要
针对跳跃运动足地冲击大的特点,基于仿生学设计一种液压驱动四足机器人单腿,分别建立单腿着地相和飞行相的运动学和动力学模型。为了满足单腿跳跃性能要求和减少足地冲击,提出基于三次曲线轨迹跟踪的跳跃方法。使用MSC.ADAMS和Simulink对单腿竖直跳跃过程进行仿真,并搭建了单腿竖直跳跃实验平台和闭环控制系统。
Considering the large foot ground impact force of hopping ,a hydraulic driven leg of quadruped robot is designed based on bionics re-search ,and its kinematics and dynamics model of stance and flight phase are established respective-ly .To meet the requirements of monopod hopping performance and to reduce the impact force ,a hopping strategy of cubic curve tracking is pro-posed .After that ,MSC .ADAMS Simulink co simulation of vertical hopping process of the single leg is carried out .Then a vertical hopping experi-ment platform and its closed loop control system are built .
出处
《机械与电子》
2014年第4期60-64,共5页
Machinery & Electronics
基金
国家自然科学基金面上项目(61175097)
国家自然科学基金创新研究群体科学基金资助项目(51121002)
高等学校博士学科点专项科研基金资助项目(20130142110081)
关键词
跳跃
足式机器人单腿
轨迹规划
仿真与实验
hopping
single leg of legged robot
trajectory planning
simulation and experiment
