四足机器人容错性步态规划方法研究

四足机器人的运动具有较强的耦合性,任何一个关节出现故障都可能使机器人运动紊乱,从而导致严重的后果。为解决此问题,提出一种适用于关节锁定故障的容错性步态规划方法。通过四足机器人的浮动机体运动学模型,在锁定关节处建立冗余度方程;利用增广雅可比矩阵完成含有优化函数的冗余度方程求解,从而实现容错性步态规划。通过仿真分析和样机试验对所提方法的可行性和有效性进行了验证。结果表明,与现有方法相比,容错性步态规划方法能够有效地提高容错性步态的效率。

Study of Fault-tolerant Gait Planning Algorithm for Quadruped Robot

The coupling characteristics of locomotion of the quadruped robot are so complex that the fault of joints may lead the robot out of control. A fault-tolerant gait planning algorithm is proposed to apply for the quadruped robot with the locked joint in order to solve the problem. Firstly, the kinematics model of quadruped robot was built based on kinematics with floating base to form the redundancy equation in the locked joint. And then the Extend Jacobian Matrix (EJM) was used to solve the redundancy equation which satisfied with some optimization function, and fault-tolerant gait planning was achieved. Finally, the result of simulation and prototype experiment verified the practicability and effectiveness of the proposed algorithm. The result shows that the proposed algorithm is more efficient compared with the existing algorithms.