基于步态规划的四足机器人运动学分析与研究

对四足机器人进行运动学建模和分析，推导运动学的正解和逆解；然后基于五次多项式对机器人足端轨迹进行了步态规划，计算了四足机器人对角步态和三角步态的驱动函数。在仿真软件ADAMS中对三角步态和对角步态进行仿真。最后制作了样机，并对样机进行了测试。通过研究三角步态和对角步态的仿真结果和样机测试结果，验证了理论推导计算的正确性。

Kinematics Analysis and Research for Quadruped Robot Based on Gait Planning

The kinematics modeling and analysis of the quadruped robot were carried out, and the forward and inverse kinematics solutions were derived. The gait planning of the robot foot end trajectory was carried out based on the quintic polynomial. The driving functions of the diagonal gait and triangle gait of quadruped robot were calculated. Triangle gait and diagonal gait were simulated in ADAMS. Finally, the prototype was made and tested. By comparing the simulation results of triangle gait and diagonal gait with the test results of prototype, the correctness of the theoretical derivation and calculation was verified.