由2自由度并联髋关节构成的脊柱式四足步行机器人步态规划和稳定性分析

针对四足机器人研究中的承载能力低、行走平稳性差问题，设计了一种由2自由度并联髋关节构成的脊柱式四足步行机器人。采用解析几何法和坐标变换法对机器人站立腿和摆动腿进行运动学建模，根据足端位置逆解求得了髋关节变量，进而提出一种无膝关节四足机器人的直行步态、定点转向步态和爬楼梯步态规划方法。基于运动学模型和步态规划方法，通过数值仿真分别得到步态周期内瞬时稳定裕度数据和重心高度变化数据，结果表明四足机器人有较好的稳定性。机器人步态试验验证了该步态规划方法的合理性和有效性。

Gait Planning and Stability Analysis of a Quadruped Robot with 2-DOF Parallel Hip and Spine Joints

A quadruped robot with 2-DOF parallel hip and spine joints is proposed to solve the problems of low carrying capacity and poor walking stability. A kinematics model of standing leg and swinging legs for quadruped robot is developed based on the analytic geometry and coordinate transformation methods, and the variable of driving joint is obtained by inversely solving a foot-end position. A gait planning method of straight walking gait, fixed-point turning gait and stair climbing gait is proposed for a quadruped robot without knee joint. Based on the kinematic equations and gait planning method, the transient stability margin curve and the change curve of barycenter height in the gait cycle were got through MATLAB simulation analysis. The results show that the quadruped robot has better stability. The rationality and effectiveness of the gait planning method is verified through the robot gait test. Key