中国机械工程2017，Vol.28Issue(23)：2829-2838,10.DOI:10.3969/j.issn.1004-132X.2017.23.009
基于多维度空间耦合的六足机器人步态规划
Gait Planning of a Hexapod Robot Based on Multi-dimensional Space Coupled
摘要
Abstract
The existing algorithms to compute the body workspace were not suitable for the gait planning of a hexapod robot on the uneven terrains.To overcome this problem,a calculation method of the body workspace of a hexapod robot was introduced based on multi-dimensional space coupled herein.Then,the method was applied to the gait planning on the unseven terrains.Three subspaces of the body and the boundary equation of these subspace were presented,and then,these subspaces were coupled to get the body workspace.Based on the body workspace,in order to obtain the relationship among the postures of the body and the joint angles of standing legs,the algorithm of the body pos-tures was solved.The simulation and experimental results show that compared with the existing plan-ning methods the gait planning introduced herein may guarantee the footend reaching the desired foot point precisely and reduce the rangeability of the attitude angles of the body,which may ensure the hexapod robot walking on the uneven terrains stably.关键词
六足机器人/子空间耦合/机身工作空间/机身运动/步态规划Key words
hexapod robot/subspace coupled/body workspace/body movement/gait planning分类
信息技术与安全科学引用本文复制引用
艾青林,阮惠祥,陈教料,应申舜..基于多维度空间耦合的六足机器人步态规划[J].中国机械工程,2017,28(23):2829-2838,10.基金项目
NSFC-浙江两化融合联合基金资助项目(U1509212) （U1509212）
国家自然科学基金资助项目(51275470) （51275470）
浙江省高等学校中青年学科带头人学术攀登项目(pd2013019) （pd2013019）
