足式机器人在非结构地形中的姿态求解算法

为了改进传统足式机器人姿态求解算法的不足，提出了一种新型的适用于非结构地形的姿态求解方法.该算法将动力学分析得到机体运动加速度信息与惯性测量单元（IMU）的信息相融合，通过卡尔曼滤波器计算机器人机体的姿态信息.所提的算法也适用于机器人机体存在冲击力的情况。为了验证算法的有效性，对两款典型的足式机器人在非结构地形中的运动进行了仿真，结果表明提出的算法能够准确的求解出机器人的姿态信息，具有良好的有效性和通用性。

The Attitude Calculation Algorithm for Legged Robots in Unstructured Terrain

For the sake of improving on traditional attitude calculation algorithm of legged robots, a novel attitude calculation algorithm for legged robots in unstructured terrain is proposed. The body locomotion acceleration obtained by dynamic analysis is fused with the information of inertial measurement unit (IMU), then Kalman filter is used to calculate the attitude of the robot body. The proposed algorithm is applicable for the situation that the robot body is subjected to the external impact. Simulations of two typical legged robots were conducted to verify the effectiveness of the proposed algorithms. The result proves the accuracy, effectiveness and versatility of the proposed algorithm.