摘要
为了提高4足机器人的运动性能,对其运动过程中的摆腿回缩现象进行了研究.首先基于弹簧负载倒立摆模型完成了机器人的建模,分析了不同摆腿回缩率对机器人能量损失、摩擦、冲击等性能指标的影响;然后利用统一目标法,推导了多性能指标下的综合最优摆腿回缩率,并基于最优摆腿回缩率为研究对象规划出了一条合适的贝塞尔轨迹.仿真结果表明,摆腿回缩率的优化对机器人的能量损失、摩擦和冲击等性能具有较大的提升作用.
In order to improve motion performance of quadruped robot,the phenomenon of swing-leg retraction(SLR)in the motion process was discussed.First,a robot model based on spring-loaded inverted pendulum(SLIP)was built and the impacts of SLR rate on energy loss,friction and impulse were analyzed respectively.Then the comprehensive optimal SLR rate to multi-objective was calculated unified objective method.And an appropriate Bezier trajectory for the study object was planned according to this optimal SLR rate.Simulation experiments show that the optimization of SLR rate is significantly beneficial to robot performance in the aspect of energy loss,friction and impulse.
作者
沈伟
柴长坤
SHEN Wei;CHAI Chang-kun(Key Laboratory of Intelligent Control and Decision of Complex Systems,Beijing Institute of Technology,Beijing 100081,China;Institute of Software,Chinese Academy of Sciences,Beijing 100190,China)
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2018年第12期1269-1275,共7页
Transactions of Beijing Institute of Technology
基金
国家高技术研究发展计划资助项目(2011AA041002)
关键词
足式机器人
摆腿回缩
运动优化
步态规划
贝塞尔轨迹
legged robot
swing-leg retraction
motion optimization
gait planning
Bezier trajectory
