基于B样条曲线的两足机器人仿生越障步行模式实现方法

两足机器人在崎岖不平的地面上行走时,需要根据地形特征产生相应的越障步行运动。从仿生学角度入手,提出了利用B样条曲线规划越障步态的参数化设计新方法。该方法引入了起步角和落步角的新概念,构造3段三次均匀B样条曲线,建立了机器人仿生越障运动模型,并进行了平稳越障运动特性的规划。基于时空运动特性的仿真结果表明,通过设计参数的合理选取可以获得运动性能良好的仿生越障步行模式。

A Method of Planning Bionic Over-Obstacle Walking Mode for Biped Robot Based on B-Spline Curves

When biped robot walks on the uneven ground, over-obstacle motion needs to be generated in response to terrain character. Based on the view of bionics, a parametric method of designing over-obstacle gait of biped robot using B-spline curves is presented. Two new concepts-uplifting-foot angle and falling-foot angle are introduced, three segments of uniform cubic B-spline curves are constructed and then the bionic over-obstacle motion model is built. Furthermore, the kinetic characteristics of smooth crossing obstacle are planned. Finally the simulation of space-time motion case is given. The result shows that the desired bionic over-obstacle walking mode with high performance may be achieved through appropriate selection of design parameters.