基于静平衡的四足机器人直行与楼梯爬越步态

为提升四足机器人的障碍爬越能力，采用稳定裕度作为四足机器人静态稳定的判据，以落足点形成的象限边界明确了不同初始位姿机器人的迈腿可能性．基于迈腿次序将所有步态划分为24 种类型．利用运动空间需求最小、稳定裕度最大、步态协调性最好3 个基本评价指标，对四足机器人的24 种基本步态进行了对比分析．提出了基于投影分析法结合平面静平衡步态理论的楼梯爬越步态研究方法，并以上述3 个特性参数最佳为要求，对楼梯爬越步态进行了系统仿真，所得结果为四足机器人的直行与楼梯爬越步态选择提供了理论依据．实验表明了所研究方法的有效性．

Straight Walking and Stair Climbing Gait of Quadruped Robot Based on Static Balance

To improve obstacle climbing performance of the quadruped robot, stability margin is selected as the criterion of quadruped static balance, and quadrant boundary formed by touchdown points is taken as the stride possibility criterion in various initial conditions. All gaits are classified into 24 types by stride sequences. Based on the evaluation guidelines including minimal locomotion space demand, maximal stability margin, and best body adjustment coordination, contrast analyses on all 24 basic gaits are ...