| 液压驱动四足仿生机器人的结构设计和步态规划 |
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| 引用本文： | 李贻斌,李彬,荣学文,孟健. 液压驱动四足仿生机器人的结构设计和步态规划[J]. 山东大学学报(工学版), 2011, 41(5): 32-36 |
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| 作者姓名： | 李贻斌 李彬 荣学文 孟健 |
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| 作者单位： | 1. 山东大学控制科学与工程学院,山东济南 250061; 2. 山东轻工业学院理学院,山东 济南 250353 |
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| 基金项目： | 国家自然科学基金资助项目(61075091);山东大学自主创新基金资助项目(2009JC010,2011JC);国家高技术研究发展计划(863计划)主题项目“高性能四足仿生机器人”资助项目 |
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| 摘 要： | 论文主要介绍了山东大学机器人研究中心研发的液压驱动四足仿生机器人。目的是设计能够适应复杂地形环境,具有高动态、高负载能力的液压驱动四足机器人。基于骡／马的生物仿生,构造了具有被动结构、基于液压驱动的四足机器人腿关节结构,满足了机器人稳定控制和高负载能力的需要。基于四足机器人的运动学和逆运动学模型,规划了机器人稳定的对角小跑动步态。实际液压驱动四足机器人平台的实验验证表明了机器人结构设计的合理性和步态规划的有效性。
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| 关 键 词： | 四足仿生 机器人 液压驱动 设计 步态规划 |
| 收稿时间： | 2011-08-20 |
Mechanical design and gait planning of a hydraulically actuated quadruped bionic robot |
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| LI Yi-bin,LI Bin,RONG Xue-wen,MENG Jian. Mechanical design and gait planning of a hydraulically actuated quadruped bionic robot[J]. Journal of Shandong University of Technology, 2011, 41(5): 32-36 |
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| Authors: | LI Yi-bin LI Bin RONG Xue-wen MENG Jian |
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| Affiliation: | 1. School of Control Science and Engineering, Shandong University, Jinan 250061,China;2. School of Science, Shandong Polytechnic University, Jinan 250353, China |
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| Abstract: | A hydraulically actuated quadruped bionic robot has been developed by Center for Robotics at Shandong University is described in this paper. The objective is to design a highly dynamic and high load quadruped robot that enables the adaptation to complex terrain. Based on mule／horse creature bionics, the leg configuration with passive structure and hydraulic actuation are met the needs of stability control and high load capacity. And the stability dynamic trotting gait of the quadruped robot is planned based on the forward kinematics and inverse kinematics. Experiments of the developed quadruped bionic robot platform show the rationality of mechanical design and the effectiveness of gait planning. |
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| Keywords: | quadruped bionics robot hydraulic actuation design gait planning |
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