| 六边形六足机器人障碍自识别步态规划 |
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| 引用本文： | 尤波,刘宇飞,高海波,罗智勇.六边形六足机器人障碍自识别步态规划[J].哈尔滨理工大学学报,2013(5):42-46. |
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| 作者姓名： | 尤波 刘宇飞 高海波 罗智勇 |
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| 作者单位： | [1]哈尔滨理工大学自动化学院,黑龙江哈尔滨150080 [2]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001 |
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| 基金项目： | 国家自然科学基金（51275106） |
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| 摘 要： | 六足机器人在控制灵活的同时,也存在步态规划策略制定困难等问题,尤其当其遇到不可逾越的障碍时,这一问题更为严重.针对此问题,提出了一种障碍自识别步态规划策略.此策略以正逆运动学解算为基础并建立D-H坐标系,进而对每条腿进行齐次坐标变换,并根据足末端力反馈来自动识别障碍做出旋转和越障步态规划.通过ADAMS的仿真结果分析,验证了该策略的正确性和普适性.
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| 关 键 词： | 六足机器人 自识别 越障步态 旋转步态 |
Hexagonal Hexapod Robot Obstacle Self-identify Gait Planning |
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| YOU BoI,LIU Yu-feiI,GAO Hai-bo=,LUO Zhi-yong.Hexagonal Hexapod Robot Obstacle Self-identify Gait Planning[J].Journal of Harbin University of Science and Technology,2013(5):42-46. |
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| Authors: | YOU BoI LIU Yu-feiI GAO Hai-bo= LUO Zhi-yong |
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| Affiliation: | 1 ( 1. School of Automation, Harbin University of Science and Technology, Harbin 150080, China ; 2. School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China) |
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| Abstract: | The hexapod robot has multiple degrees of freedom in the control flexibility. However, it has gait planning strategy formulation difficulties. In this paper, we propose an obstacle self-identify planning strategy. The strategy is based on the forward and inverse kinematics solver, and it builds the D-H coordinate system, and makes each leg in homogeneous transformation. The rotation and crossing obstacles gait planning are made by the foot end force feedback to automatically identify the barriers. Through the analysis of ADAMS simulation results, the cor- rectness and universality of the obstacle self-identify rotation gait planning strategy is verified. |
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| Keywords: | hexapod robot self-identify obstacle gait planning rotation gait planning |
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