一种轮腿复合型机器人的步态研究与越障性能分析

为实现地面移动机器人在复杂地形下的环境探索需求，结合轮式机器人的高速特性和足式机器人对地形适应性强的特征，提出一种轮幅型轮腿复合型机器人，并针对其在移动过程中的振动问题以及爬梯过程中的越障问题，对机器人进行步态研究及性能分析。从静力学分析中得出机器人轮腿结构以不同姿态着地时的受力情况，结合实际情况中机器人运动约束对机器人在前进、转向和越障等任务中的步态进行分析，并基于动力学仿真ADAMS软件建立动力学模型来模拟机器人不同步态下的振动情况以及越障性能。研究结果表明，结合本文提出的步态控制方法，该轮腿复合型机器人在复杂地形环境中具有较好的行进效率和越障能力。

Gait Study and Obstacle-Surmounting Performance Analysis of a Wheel-Leg Hybrid Robot

In order for ground mobile robots to fulfil the requirements of environmental exploration in complex terrain, considering the high speed characteristic of wheeled robots and the strong environmental adaptability of legged robots, a wheel-leg hybrid robot is proposed. To address the vibration problem in moving and the obstacle surmounting problem in ladder climbing, the gait study and performance analysis of the robot are carried out. The force conditions of the wheel-leg structure of the robot in different landing postures are obtained from the static analysis, and combined with the motion constraints in the actual situation, the robot gaits in the tasks of moving forward, turning and obstacle-surmounting are analyzed. Then, with the ADAMS simulation software, the dynamic model is established to simulate the robot vibration and obstacle-surmounting performance in different gaits. The results show that combined with the proposed gait control method, the wheel-leg hybrid robot has better traveling efficiency and obstacle surmounting ability in complex terrain environment.