水田土壤上典型步态及其参数对足式机器人能耗的影响

通过ABAQUS建立了足式机器人单腿有限元模型和土壤有限元模型，进行了有限元动力学仿真，探究水田土壤环境下足式机器人典型步态（矩形、修正摆线、椭圆、零冲击）及其参数对单位能耗的影响规律，并在自主研发的足　地作用机理试验台上，设计了与仿真试验参数相同的实际试验，验证了仿真试验结果的正确性。结果表明，椭圆步态能耗性能最好，在步高H=40 mm时，椭圆步态最小单位能耗比矩形、修正摆线、零冲击步态最小单位能耗分别减小12.5%、11%、12%。仿真试验与实际试验机械腿行走足迹比较吻合。仿真试验与实际试验得到的机械腿膝关节和髋关节扭矩吻合程度较好。

Effects of Typical Gaits on Paddy Soils and Parameters on Energy Consumption of Legged-robots

The single leg of legged-robots and the soil finite element model were established by ABAQUS，and the finite element dynamics simulation was carried in order to explore the influence law of unit energy consumption of four typical gaits（rectangular，modified cycloid，elliptical，zero impact） and their parameters.The actual experiments with the same parameters were designed on the independently-developed foot-to-ground test bench in order to test the correctness of finite element dynamics simulations.The results show the performance of energy consumption of elliptical gaits is the best，and the minimum unit energy consumption decreases 12.5%，11% and 12% compared with rectangular，corrected cycloid and zero impact respectively.The simulation tests are in good agreement with the actual tests on trail of mechanical leg walking.The knee joint and hip joint torque obtained by simulation tests and actual tests are also in a good agreement.