一种独立轮腿式机器人的步态规划研究

轮腿式机器人是一种具有轮式和腿式机器人优点的复合式移动机器人，合理的步态规划是其能否实现轮腿协调的关键^[1]。介绍了一种具有独立车轮和机械腿结构的轮腿式机器人。先根据几何约束设定机械腿末端轨迹，然后对不同的步态相做出合理的机构简化，采用D-H建模的方法对机器人进行运动学分析，通过运动学反解获得机器人在轮腿协调爬行时机器人的步态规划。通过样机实验对机器人运动规划的结果进行了验证。结果证明利用文中的规划方法可以很好地指导机器人的运动。

Gait Planning Study of a Leg-wheel Robot with the Separated Legs and Wheels

The leg-wheel robot is a kind of composite mobile robot,which has the advantage of both the leg robot and the wheel robot. Reasonable gait planning is very important in order to achieve the coordination of the legs and the wheels[1].This paper presents a leg-wheel robot with two drive wheels and two legs.According to the terrain,we set the end of mechanical legs track,simplify the mechanical structure of the different gait phase reasonable.Then we used the method of D-H modeling to do the robot kinematics a...