| 足式机器人单腿跳跃仿真与实验 |
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| 引用本文： | 钟建锋,罗 欣,余益君.足式机器人单腿跳跃仿真与实验[J].机械与电子,2014(4):60-64. |
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| 作者姓名： | 钟建锋 罗 欣 余益君 |
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| 作者单位： | 华中科技大学数字制造装备与技术国家重点实验室,湖北武汉430074 |
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| 基金项目： | 国家自然科学基金面上项目（61175097）;高等学校博士学科点专项科研基金资助项目（20130142110081）;国家自然科学基金创新研究群体科学基金资助项目（51121002） |
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| 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。
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| 关 键 词： | 跳跃 足式机器人单腿 轨迹规划 仿真与实验 |
Simulation and Experiment of Vertical Hopping of a Single Legged Robot |
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| ZHONG Jian feng,LUO Xin,YU Yi jun.Simulation and Experiment of Vertical Hopping of a Single Legged Robot[J].Machinery & Electronics,2014(4):60-64. |
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| Authors: | ZHONG Jian feng LUO Xin YU Yi jun |
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| Affiliation: | (State Key Laboratory of Digital Manufacturing Equipment and Technology, H uazhong University of Science and Technology, Wuhan 430074, China) |
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| Abstract: | 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 . |
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| Keywords: | hopping single leg of legged robot trajectory planning simulation and experiment |
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