高技术通讯2011，Vol.21Issue(2)：185-190,6.DOI:10.3772/j.issn.1002-0470.2011.02.013
基于Matlab的仿壁虎机器人仿生步态规划与仿真
Matlab based gait planning and simulating of a robot inspired by gecko locomotion
摘要
Abstract
The kinematical analysis of a new type of gecko inspired robot was performed based on the deep observation of the gecko locomotion, and in consideration of the existing gait planning methods' shortcomings of poor motion coordination and narrow application, a new bionic multi-planning method which can adjust the parameters of front foot's placement and posture was designed. The bionic gait planning process was developed with the Matlab software platform and the experimental results under the diagonal gait and tripod gait were analyzed. The experiment results showed that the locomotion of the robot was coordinated and stable, the gait met the requirements in different environments, and both the correctness and the feasibility of the bionic gait planning were verified, and the foundation for multi-gait data generation under different environments was constructed.关键词
仿壁虎机器人/步态规划/Matlab/仿生Key words
gecko inspired robot/ gait planning/ Matlab/ bionic引用本文复制引用
张晓峰,俞志伟,张昊,阮鹏,戴振东..基于Matlab的仿壁虎机器人仿生步态规划与仿真[J].高技术通讯,2011,21(2):185-190,6.基金项目
863计划(2007ZA04Z201),国家自然科学基金(6091007,50805076),江苏省自然科学基金(BK2007202)和中国博士后科学基金(20100471339)资助项目. （2007ZA04Z201）
