中国机械工程Issue(5)：592-597,6.DOI:10.3969/j.issn.1004132X.2015.05.005
四足机器人对角小跑步态动态稳定步行足端非连续约束及动力学建模
Analysis on Non-continuous Constraints and Dynamics Modeling of Quadruped Robot Dynamically Stable Walking with Trot Gait
摘要
Abstract
The trot gait cycle was divided into swing phase and supporting phase.The D-H coor-dinate method was adopted to analyze the kinematics modeling for the robot.When the legs were in supporting phase,the non-continuous constraint force between feet and environment was analyzed based on the principles of centroid movement,and the mapping relationship between the constraint force and the joints generalized driving force can be determined by the force Jacques matrix.The non-continuous constraint force was considered to analyze the nonlinear dynamical equation of quadruped robot,which had the characteristic of variable topology mechanism and non-continuous constraint. The theoretical analysis results were verified by virtual prototype simulation.The study will provide theoretical basis for improving the mobility and dynamic stability of quadruped robots adapting to un-structured environment.关键词
四足机器人/对角小跑步态/非连续约束/质心运动定理/动力学Key words
quadruped robot/trot gait/non-continuous constraint/principle of centroid move-ment/dynamics分类
信息技术与安全科学引用本文复制引用
雷静桃,俞煌颖,王峰..四足机器人对角小跑步态动态稳定步行足端非连续约束及动力学建模[J].中国机械工程,2015,(5):592-597,6.基金项目
国家自然科学基金资助项目(50975179) （50975179）
上海市科学技术委员会自然科学基金资助项目(13ZR1415500) （13ZR1415500）
上海市教育委员会科研创新项目(13YZ020) （13YZ020）
