机器人Issue(1)：85-93,9.DOI:10.13973/j.cnki.robot.2015.0085
连续不规则台阶环境四足机器人步态规划与控制
Gait Planning and Control of Quadruped Robots in Continuous Irregular Steps Environment
摘要
Abstract
In order to implement autonomous walking of quadruped robot without prior knowledge of rugged terrain, a motion control method for quadruped robot is proposed. In this method, intermittent crawl is selected as the main gait, and the crawling motion is separated into several individual control tasks: the position of the center of mass is adjusted by calculating the ratio of the stability of inner falling and outer falling based on NESM (normalized energy stability margin) criteria;the slope of the terrain is adapted by mapping the coordinates of the toes;the height of the robot is controlled by adjusting the lengths of the legs; and the posture of the robot is recovered based on the information of the attitude sensor. Simulations and experiments prove that the robot walks stably on rugged terrain, only relying on internal sensors, which proves the effectiveness and reliability of the proposed method.关键词
四足机器人/台阶/间歇爬行步态/崎岖地形Key words
quadruped robot/step/intermittent crawl gait/rugged terrain分类
信息技术与安全科学引用本文复制引用
孟健,李贻斌,柴汇,李彬..连续不规则台阶环境四足机器人步态规划与控制[J].机器人,2015,(1):85-93,9.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资助项目（2013M541912）；山东省自然科学基金资助项目（ZR2013FQ003，ZR2013EEM027）． （）
