六足机器人爬楼步态与仿真

为提高六足机器人对楼梯障碍物的适应能力，设计一种半圆型腿式的六足机器人。根据机器人的结构特 点，规划了六足机器人爬楼梯中的四足步态。基于步态规划，分析和建立了四足步态的运动学模型。通过对各条腿 的支撑相角度和摆动相角度的调整，用 ADAMS 软件对机器人进行了动态仿真。仿真结果表明：六足机器人结构设 计合理，在四足步态下能实现连续爬楼梯，且机器人的机体质心位移曲线在时间上连续光滑，验证了运动学模型的 有效性。

Gait Planning and Analysis of 6 Legged Robot in Stair Climbing

In order to improve the adaptability of the 6 legged robot to the staircase obstacles, a semicircular leg type 6 legged robot is designed. According to the structure characteristics of the robot, the 4 legged gait of the 6 legged robot climbing staircase is planned. Based on gait planning, the kinematic model of quadruped gait is analyzed and established. By adjusting the rotation angle and swing angle of each leg, the dynamic simulation of the robot is carried out with ADAMS software. The simulation results show that the structure design of the 6 legged robot is reasonable, the quadruped gait with climbing stairs can achieve continuous climbing stairs, and the centroid displacement curve of the robot continually keep smoothly as time goes by, which validates the validity of the kinematics model.