机器人2011，Vol.33Issue(6)：700-705,6.DOI:10.3724/SP.J.1218.2011.00700
沟壑类非连续地形下的四足机器人运动控制
Quadruped Robot Walking Control on Trench-like Noncontinuous Terrain
摘要
Abstract
For the problem that a quadruped robot loses its balance when walking into a trench in the fields or on a downward non-structured step, a balance control solution, aiming at counteracting the vertical inertia] force is proposed, based on the biological neural reflex mechanism. The detected abrupt change of the body pitch angle will trigger the postural reflex, which will produce coordinated movements of the four legs to adjust the robot's attitude rapidly to counteract instantaneous imbalance caused by inertia. Physical experiments are designed comparatively using a 8-DOF quadruped robot. The robot successfully crosses over a 1.2-leg-stride wide trench and walks down a 0.4-leg-length high step.关键词
四足机器人/中枢模式发生器/复杂地形/踏空反射/抗惯性力Key words
quadruped robot/ central pattern generator/ rough terrain/ loss-foothold reflex/ anti-inertia分类
信息技术与安全科学引用本文复制引用
曾翔宇,鄂明成,李冬冬,张秀丽..沟壑类非连续地形下的四足机器人运动控制[J].机器人,2011,33(6):700-705,6.基金项目
国家自然科学基金资助项目(50905012):中央高校基本科研业务费专项资助项目(2009JBM089). （50905012）
