一种新型四足变胞爬行机器人的步态规划研究

发布时间：2018-06-24 08:52

本文选题：四足变胞爬行机器人 + 步态规划　；参考：《机械工程学报》2016年11期

【摘要】：随着移动机器人在探测救援中的应用逐渐增多,活动灵巧、环境适应能力强的多足机器人越来越受到国内外学者的关注。介绍一种腰部可以活动的四足机器人的设计及其步态生成,并展示了活动腰部可提升机器人对极端环境的适应性。提出三个基本假设以简化机构模型,提出腰部构态变换规则,并用几何方法说明了腰部构型变化可扩大机器人腿部活动空间,从而提升对复杂环境的适应性。另外,腰部运动与步态融合,生成了两种新的基本步态——扭腰直行步态和原地旋转步态。基于提出的两种步态,对比了固定腰部与可动腰部条件下运动稳定裕度的变化,分别计算了狭窄弯道通过条件,并分析了所设计步态对头部视觉的影响,从而证明所设计机器人具有较高的极端环境适应能力。
[Abstract]:With the increasing application of mobile robot in detection and rescue, the multi-legged robot, which is dexterous and adaptable to the environment, has attracted more and more attention from scholars at home and abroad. This paper introduces the design and gait generation of a kind of quadruped robot which can move around the waist, and shows that the moving waist can enhance the adaptability of the robot to extreme environment. Three basic assumptions are proposed to simplify the mechanism model, and the rules of waist configuration transformation are proposed. The geometric method is used to show that the waist configuration can expand the space of the robot's leg motion and thus enhance the adaptability to the complex environment. In addition, the fusion of waist motion and gait results in two new basic gait, twisting straight gait and in situ rotating gait. Based on the two gait proposed, the changes of motion stability margin under the condition of fixed waist and movable waist are compared, the passing conditions of narrow curve are calculated, and the influence of the designed gait on head vision is analyzed. It is proved that the designed robot has high adaptability to extreme environment.
【作者单位】：天津大学先进机构学机器人学中心;伦敦大学国王学院机械工程系;
【基金】：国家自然科学基金(51175366) 天津市科技计划(12JCZDJC27700)资助项目
【分类号】：TP242

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