四足机器人改进型对角小跑步态研究

摘要

传统的四足机器人对角小跑步态一般在机体坐标系中进行规划，在实际应用中存在着摆动腿无法同时着地、机体翻转无法有效抑制等问题，这些都降低了机器人运动的稳定性和精确性。针对以上问题，提出了一种在世界坐标系下规划的改进型对角小跑步态方法，该方法通过浮动机体运动学对摆动相进行规划，在足端的雅可比矩阵中引入机体姿态相关项，从而保证了摆动腿能同时着地，同时在支撑相和摆动相之间增加了四腿同时着地的调整相，对机器人机体位姿进行调整。对比仿真和样机试验结果表明：与传统方法相比，所提方法能够使摆动腿同时着地并能连续调整机体位姿，使机器人获得更好的运动稳定性和更高的位移控制精度。%The classical trot gait for quadruped robot was planned in the body coordinate of robot, and there exist some problems which might decrease the stability and accuracy of the locomotion in practical applications.For example,the swing legs could not land the ground simultaneously,and the rolling-over of the body could not be suppressed effectively.To overcome the problems,an improved trot gait for quadruped robot which was considered in the world coordinate was proposed herein.The swing phase was planned via kinematics with floating base,and the term related to the body’s posi-tion and attitude was introduced in the foot’s Jacobian matrix to ensure the swing legs could land the ground simultaneously.The adjustment phase was introduced between the support phase and swing phase when the four legs got in touch with ground.The body’posture might be adjusted in the ad-justment phase.Finally,the results of simulation and prototype experiments show that,the proposed method can improve the stability and accuracy of the robot’s locomotion.