四足机器人静步态直线行走规划研究

为使四足机器人以静态步行方式实现稳定直线行走.基于仿生学,利用SolidWorks环境下所构建的虚拟模趔,使用三角函数法对机器人的步行参数进行了规划和设计,并在ADAMS中对所规划的步行方式进行了仿真和检验.进而针对仿真中机器人出现横向偏移的现象,对影响机器人稳定直线行走的原因进行了分析,提出了支撑足零差速规划方法,并在进一步的仿真中证明了方法能有效减小横向偏移量,实现机器人的稳定直线行走.研究结果以及所用的仿真方法对四足机器人的步态设计具有一定的借鉴意义.

Research on Static Linear Walking of Quadruped Robot

To realize moving forward of quadruped robot by static walking,firstly,parameters of static walking were planned and designed in detail by triangle function based on bionics,and the planned gait was simulated and testified by ADAMS before the model was established in SolidWorks.In view of the problem of lateral shift in the process of simulating,qualitative analysis was done and a planning method of an isokinetic model was put forward.The simulation result shows that this method can reduce lateral shift eff...