学术论文

      一种四足机器人直线步态规划方法及仿真研究

      Research on straight gait planning method and simulation of a quadruped robot

      摘要:
      针对多足机器人研究中存在前进方向不稳定的问题,以减少机器人运动过程中除直线运动方向以外的其他所有方向上的附运动为目的,推导出一种适应于四腿十二自由度的机器人直线步态规划方法.基于所推导的运动学方程和步态规划方法,通过多组数据进行计算机仿真分析,给出了机器人行走过程中机身高度偏差曲线和侧偏量偏差曲线,结果显示电机精度对步态的误差影响较大,而信号采样率的影响不明显.结合机器人步态实验,验证了该四足机器人步态规划方法的合理性和有效性.
      Abstract:
      Aimed at the weakness of the instability of forward direction in the research on a quadruped robot,in order to reduce the robot movement in the process of all the other direction other than the linear motion direction of movement for the purpose,this paper deduces a four legs adapted to 12 degrees of freedom robot straight gait planning method.Based on the kinematics equation derived and gait planning method,computer simulation analysis,multiple sets of data are given out in the process of the robot body height deviation curve and lateral deviation curve of deviator,results show that the motor had a greater influence on the accuracy of the error of the gait,and the influence of the signal sampling rate is not obvious.Combined with robot gait experiment,it verifies the quadruped robot gait planning method is reasonable and effective.
      作者: 章壮 [1] 吴志鑫 [2] 张杉桂 [3] 龙海柱 [3] 李明富 [1]
      Author: ZHANG Zhuang [1] WU Zhi-xin [2] ZHANG Shan-gui [3] LONG Hai-zhu [3] LI Ming-fu [1]
      作者单位: 湘潭大学机械工程学院,湖南湘潭,411105 娄底三中,湖南娄底,417000 湘潭大学材料科学与工程学院,湖南湘潭,411105
      刊 名: 信息技术 ISTIC
      年,卷(期): 2017, (3)
      分类号: TP391.9
      在线出版日期: 2017年4月18日
      基金项目: 国家级大学生创新训练计划项目