机器鳄鱼运动的仿生步态规划方法OA北大核心CSTPCD

Imitation of the gait of real animals is a focus on the gait planning research for bionic robot.In this paper,aiming at the gait planning of a new type of bionic crocodile robot,the motion capture technology is used to obtain the gait of the real crocodile.On this basis,the angle of the leg joint of the crocodile robot was solved by the Gauss-Newton method.Bionic gait obtained by fitting is similar to the real gait trajectory,and the kinematic stability of the crocodile robot in this gait was analyzed.The kinematic simulation results of the virtual prototype show that the crocodile robot can crawl forward at a speed of 0.3 m/s with a gait similar to that of the real crocodile and has high stability.