现代制造工程Issue(7)：37-41,5.DOI:10.16731/j.cnki.1671-3133.2017.07.008
基于足端轨迹的仿生四足机器人运动学分析与步态规划
Strategy of foot trajectory for bionics quadruped robots kinematic analysis and gait planning
摘要
Abstract
A kind of electrically driven quadruped bionic robot is designed,which has the main and passive structure and the robot's leg joint structure based on the electric cylinder.The purpose is to explain how the quadruped robot walks.D-H coordinates are given a kinematic calculation method.Kinematic modeling,the inverse kinematics calculation of robot with the aid of kinematic model,the corner function of the joints of the robot was solved.A method of gait planning for a four legged robot is proposed for the walking of a robot.Simulation experiments show that,the robot walks stably,the foot trajectories are smooth and the undulation of body has small amplitude.关键词
四足仿生/D-H坐标/足端轨迹/步态规划/运动仿真Key words
quadruped bionics/D-H coordinates/foot trajectory/gait planning/motion simulation分类
信息技术与安全科学引用本文复制引用
勾文浩,袁立鹏,宫赤坤,高彤..基于足端轨迹的仿生四足机器人运动学分析与步态规划[J].现代制造工程,2017,(7):37-41,5.基金项目
国家科技支撑计划项目(2013BAH57F00) （2013BAH57F00）
