足式机器人单腿跳跃仿真与实验

摘要

针对跳跃运动足地冲击大的特点，基于仿生学设计一种液压驱动四足机器人单腿，分别建立单腿着地相和飞行相的运动学和动力学模型。为了满足单腿跳跃性能要求和减少足地冲击，提出基于三次曲线轨迹跟踪的跳跃方法。使用 M SC ．AD-AMS和Simulink对单腿竖直跳跃过程进行仿真，并搭建了单腿竖直跳跃实验平台和闭环控制系统。%Considering the large foot ground impact force of hopping ,a hydraulic driven leg of quadruped robot is designed based on bionics re-search ,and its kinematics and dynamics model of stance and flight phase are established respective-ly .To meet the requirements of monopod hopping performance and to reduce the impact force ,a hopping strategy of cubic curve tracking is pro-posed .After that ,MSC .ADAMS Simulink co simulation of vertical hopping process of the single leg is carried out .Then a vertical hopping experi-ment platform and its closed loop control system are built .