仿生六足机器人基于足力分布的位姿调整策略

摘要

针对六足机器人非结构化地形稳定步行问题,研究了基于足力分布的位姿调整策略.通过力学分析建立了机器人任意步态模式下的足力分布模型,获得足底受力的平衡关系；采用重心位置调整策略实现了机器人步行过程中的位姿优化,来提高步行稳定性；并且建立了虚拟悬挂模型,采用足力补偿的方法对外界的扰动进行抑制,进一步提高机器人步行的稳定性.通过仿真验证了该调整策略对提高机器人步行稳定裕度的有效性.%This paper proposed a posture control strategy based on force distribution for the purpose of keeping the posture stability of six - legged robot when the robot was walking on irregular terrain. This strategy considered of establishing the force distribution model on any gait patterns to obtain the balance relationship of plantar forces, and adjusted COG (center of gravity) to achieve optimal posture control. Applied force compensation on the basis of a virtual suspension model to achieve disturbance rejection. This strategy could effectively improve the walking stability of robot on irregular terrain. Adams simulations verified the effectiveness of the control strategy to improve the robot walking stability margin.