高技术通讯2011，Vol.21Issue(4)：404-410,7.DOI:10.3772/j.issn.1002-0470.2011.04.013
四足机器人高速动态行走中后腿拖地问题研究
Resolution of the hind leg dragging problem of a quadrupedal robot in high-speed dynamic walking
摘要
Abstract
This study presented two methods, adding a balance weight and performing postural adjustment, to deal with the hind-leg dragging problem of a quadrupedal robot due to the offset of its center of gravity during high-speed dynamic walking. The effectiveness of the two methods was confirmed by the dynamic simulation using a virtual prototype and conducting the experiments using a physical quadmpedal robot, Biosbot. The results of the study show that the method of adding a balance weight will increase extra load to the joints of the robot so as to make them worn down easily, while the method of adjusting the robot's posture has a better effectiveness but retracts the swing legs and the body so as to reduce the velocity and efficiency of walking, and these disadvantages can be reduced by increasing the walking frequency. In conclusion, combining the postural adjustment with the walking frequency increase is a better way to tackle the hind-legs dragging problem.关键词
四足机器人/动态行走/翻转力矩/配重法/姿态调整Key words
quadrupedal robot/ dynamic walking/ falling moment/ balance weight/postural adjustment引用本文复制引用
张秀丽,曾翔宇,郑浩峻..四足机器人高速动态行走中后腿拖地问题研究[J].高技术通讯,2011,21(4):404-410,7.基金项目
国家自然科学基金(50905012)和中央高校基本科研业务费专项资金(2009JBM089)资助项目. （50905012）
