新型仿生六足机器人自由步态中足端轨迹规划

设计了一种具有变形关节和轮式足端的新型仿生六足机器人，该机器人具备轮式、爬行、步行等运动模式,有较好的灵活性及环境适应能力。运用矢量法构建了机器人运动学模型，并利用几何关系对模型进行求解。对机器人沿给定的路径执行自由步态时机器人所允许的最大步幅进行了分析。基于不同的地形条件,规划了抛物线和直线-抛物线两种足端轨迹。仿真结果表明,机器人在沿给定的路径执行自由步态时，抛物线和直线-抛物线两种足端轨迹规划方法合理、可行。

Foot Trajectory Planning for a Hexapod Biomimetic Robot Using Free Gait

A new hexapod biomimetic robot with deformable joints and wheels was designed. Moving with multiple kinds of motion patterns, such as wheeled mode and footed mode,the robot possessed better flexibility and adaptability to the environment. A kinematic model of the robot was built with vector method and solved by geometric relations. The maximum stride length which was allowed when the robot walked along a given path with free gait was analyzed. Two foot trajectories including parabola and line-parabola were planned for different terrains. Simulation results show that the foot trajectory planning method is reasonable and feasible.