四足机器人步态分析及仿真实现

摘要

为实现一种液压驱动的四足机器人稳定行走,根据机器人稳定裕量原则,针对JQRI00四足机器人进行了步态规划.根据前期对四足机器人的结构设计,建立了JQRI00四足机器人的虚拟样机;针对其结构特点,分别设计了四足机器人在进行直线行走和转弯时的步态规划,应用ADAMS对虚拟样机进行了直线步态仿真.仿真结果准确、合理,表明所研究的步态规划正确、可行,能够实现四足机器人稳定行走,为机器人后期进行驱动控制奠定了基础.%Aiming at achieving the stable walking of a hydraulic driving quadruped robot, according to the principle of stability margin, a linear and turning gait planning for JQRI00 quadruped robot were researched. The virtual prototype of JQRI00 quadruped robot were established according to the structure characteristics of quadruped robot, and the linear gait simulation of virtual prototype was carried out by using ADAMS. The simulation results show that the gait planning is correct and feasible, which achieves the stable walking and lays a foundation for the control of the robot in the later stage.