机械与电子Issue(11)：67-71,5.
一种四足机器人平面转弯步行规划
Research on Turning Movement Planning for Quadruped Robot in Trotting Gait
摘要
Abstract
The complexity of the leg trajectory generation, and the continuity and smoothness of the motion coordination affect the motion control and the locomotion stability in turning behavior of quadruped robots. In this paper, we propose a new improved strategy to achieve smooth turning behavior in such a way that the design of the toe's trajectory generation in three dimensions is decomposed into two designs in two dimensions. In addition, we transfer the generation of the angle amplitude to sinusoid functions to achieve the continuity and smooth of its speed. Furthermore,we study the effect of this method on the circle radius parameters in turning behavior in simulation and the results show that the robot is able to achieve reliable turning behavior.关键词
四足机器人/转弯步行/运动规划Key words
quadruped robot/ turnning gait/ locomotion control分类
信息技术与安全科学引用本文复制引用
李军,刘桉,赵文涛..一种四足机器人平面转弯步行规划[J].机械与电子,2012,(11):67-71,5.基金项目
高等学校博士学科点专项基金(201061102120021) （201061102120021）
