摘要
针对四足仿生机器人爬台阶步态规划问题,构建一种全肘式仿哺乳类四足机器人步行机构与通信架构。首先,选择投影法将全肘式仿哺乳类四足机器人爬台阶过程的位姿向水平面转化。其次,分析机器人运动过程中重心的变化;利用水平面爬行步态静态稳定原理,对比研究全肘式仿哺乳类四足机器人多种步态的稳定裕度以及协调性,从而选择出最佳的爬台阶步态。最后,进行反复多次的对比实验,实验结果表明,所设计全肘式仿哺乳类四足机器人爬台阶步态具有良好的稳定性。
Focus on the gait planning problem of quadruped bionic robot climbing stairs,the walking mechanism and the communication framework were constructed. Firstly,the projection method was chosen to translate the full elbow joint robot′s pose into horizontal pose. Secondly,the changes of weight for the robot were analyzed in the process of movement. Meanwhile,the static stability principle of crawling gait was applied to study the stability margin and coordination of various gaits for quadruped bionic robot. Finally,the best stair climbing gait was chosen and a large number of experiments were structured to verify the effectiveness of the results. The results demonstrate the stability of the proposed algorithm for the gait planning of quadruped bionic robot with full elbow joint.
作者
邹明峻
于金鹏
于海生
崔健
ZOU Mingjun;YU Jinpeng;YU Haisheng;CUI Jian(Automation Institute,Qingdao University,Qingdao 266000,Shandong,China)
出处
《电气传动》
北大核心
2019年第11期64-69,共6页
Electric Drive
基金
国家自然科学基金资助项目（61573204,61573203）
关键词
四足仿生机器人
爬行步态
爬台阶
quadruped bionic robot
crawling gait
stair climbing
