机械科学与技术2024，Vol.43Issue(4)：566-572,7.DOI:10.13433/j.cnki.1003-8728.20220287
机器鳄鱼运动的仿生步态规划方法
Bionic Gait Planning Method for Motion of Crocodile Robot
摘要
Abstract
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.关键词
机器鳄鱼/步态规划/动作捕捉/运动稳定性/运动仿真Key words
crocodile robot/gait planning/motion capture/kinematic stability/kinematic simulation分类
信息技术与安全科学引用本文复制引用
黄可凡,贾文祯,韩路路,蒋建平..机器鳄鱼运动的仿生步态规划方法[J].机械科学与技术,2024,43(4):566-572,7.基金项目
国家自然科学基金项目(12002396) （12002396）
