机器人Issue(1)：74-84,11.DOI:10.13973/j.cnki.robot.2015.0074
四足机器人对角小跑步态全方位移动控制方法及其实现
Control Method and Its Implementation of Quadruped Robot in Omni-directional Trotting Gait
摘要
Abstract
For a quadruped robot to implement omni-directional moving on horizontal planes and slopes, a control method based on trotting gait is proposed. Based on the kinematic equation and bionic gait planning method derived, the motion in plane is decoupled into three parts to reduce the complexity of motion control: forward motion, lateral motion and rotary motion. Firstly, the motion speeds of the three directions are controlled by modifying the amplitude of the oscillation of these parts. Then the omni-directional moving control is implemented in horizontal plane by overlaying the three parts of motion. After that, the omni-directional control for the robot trotting on slopes is implemented by mapping the positions of the toes based on the planar omni-directional moving control method. Lastly, simulations and experiments on the physical prototype are implemented on horizontal planes and slopes. The difference among the pedometer data, the simulation data and the physical prototype experimental results is within an acceptable range, which proves that the speed control and the decoupling of the motion are realized effectively with the proposed method, and the correctness and validity of the method is verified.关键词
四足机器人/对角小跑步态/全方位移动/斜坡/步程计Key words
quadruped robot/trotting gait/omni-directional movement/slope/pedometer分类
信息技术与安全科学引用本文复制引用
孟健,李贻斌,李彬..四足机器人对角小跑步态全方位移动控制方法及其实现[J].机器人,2015,(1):74-84,11.基金项目
国家自然科学基金资助项目（61233014，61305130）；中国博士后科学基金项目（2013M541912）． （）
