基于多维度空间耦合的六足机器人步态规划

针对现有机身工作空间求解算法不适用于非平坦地形下六足机器人步态规划的问题，提出一种基于多维度空间耦合算法的机身工作空间求解方法，并将其应用于机器人在非平坦地面运动的步态规划中。将机身工作空间分为三个子空间，解析三个子空间边界方程，耦合得出机身工作空间，在此基础上，解析机身位姿与站立腿关节转角之间的映射关系，完成机身运动规划。仿真和样机实验结果对比表明：与采用传统机身运动规划算法的步态相比，所提方法能够减小摆动腿足端偏移量和机身姿态角变化幅度，并且能够保证机器人具有更高的步态稳定裕度，使机器人获得更好的步态稳定性。

Gait Planning of a Hexapod Robot Based on Multi-dimensional Space Coupled

The existing algorithms to compute the body workspace were not suitable for the gait planning of a hexapod robot on the uneven terrains. To overcome this problem, a calculation method of the body workspace of a hexapod robot was introduced based on multi-dimensional space coupled herein. Then, the method was applied to the gait planning on the unseven terrains. Three subspaces of the body and the boundary equation of these subspace were presented, and then, these subspaces were coupled to get the body workspace. Based on the body workspace, in order to obtain the relationship among the postures of the body and the joint angles of standing legs, the algorithm of the body postures was solved. The simulation and experimental results show that compared with the existing planning methods the gait planning introduced herein may guarantee the footend reaching the desired foot point precisely and reduce the rangeability of the attitude angles of the body, which may ensure the hexapod robot walking on the uneven terrains stably.