| 六足步行机足端轨迹规划及仿真研究 |
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| 引用本文： | 雷静桃,高峰,崔莹.六足步行机足端轨迹规划及仿真研究[J].机械设计与研究,2006,22(4):42-45. |
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| 作者姓名： | 雷静桃 高峰 崔莹 |
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| 作者单位： | 北京航空航天大学,汽车工程系,北京,100083 |
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| 摘 要： | 在对六足步行机运动学分析的基础上,为了改善步行机的起落特性及步行稳定性,进行了平地无障碍足端轨迹规划。使用摆线函数分别产生足的水平和垂直方向的运动轨迹,用修正摆线函数使其加速度进一步平滑、连续,对各关节的运动轨迹和关节驱动力矩进行了仿真。
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| 关 键 词： | 六足步行机 轨迹规划 仿真 |
| 文章编号： | 1006-2343(2006)04-042-04 |
| 收稿时间： | 2005-12-02 |
| 修稿时间： | 2005年12月2日 |
Foot Trajectory Planning and Simulation for a Hexapod Robot |
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| LEI Jing-tao,GAO Feng,CUI Ying.Foot Trajectory Planning and Simulation for a Hexapod Robot[J].Machine Design and Research,2006,22(4):42-45. |
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| Authors: | LEI Jing-tao GAO Feng CUI Ying |
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| Affiliation: | Department of Automobile Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China |
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| Abstract: | To improve the rising-falling character and the walking stability of the hexapod robot, on the basis of its kinematics analysis, this paper presents its foot trajectory planning on the flat ground without obstacles. The cycloid function is used to generate the horizontal and vertical foot trajectory respectively, and a modified cycloid function is used to make the acceleration curve of the joints more smooth and successive, the trajectory and drive moment of each joint is calculated by simulation. |
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| Keywords: | hexapod robot trajectory planning simulation |
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