工程设计学报2024，Vol.31Issue(3)：309-318,10.DOI:10.3785/j.issn.1006-754X.2024.03.181
受海龟爬行与山羊行走启发的四足仿生移动机器人多步态规划及动力学分析
Multi-gait planning and dynamics analysis of quadruped bionic mobile robot inspired by turtle crawling and goat walking
摘要
Abstract
In order to solve the problems of slow movement,poor environmental adaptability and single gait of rescue robots,a quadruped bionic mobile robot was designed according to the physiological structure of turtle and goat.Firstly,according to the characteristics of turtle crawling on soft ground and goat's strong movement ability,two gaits imitating turtle crawling and goat walking were planned for the robot to adapt to different environments and improve the robot's movement performance.Then,the dynamics analysis for the robot outrigger was carried out,and the quantitative relationship between the robot joint torque and motion performance parameters was obtained by establishing a dynamics model.Finally,the feasibility of the robot's gait and the robot's adaptability to the environment were verified by simulation and prototype experiments.The results showed that the designed robot had stable structure and reasonable gait planning,which could adapt to different complex terrains.The research results can provide important reference for the design and development of bionic robots.关键词
仿生移动机器人/多步态规划/动力学Key words
bionic mobile robot/multi-gait planning/dynamics分类
机械制造引用本文复制引用
芮宏斌,王天赐,厍龙林,段凯文,李耒,郭旋,彭家璇..受海龟爬行与山羊行走启发的四足仿生移动机器人多步态规划及动力学分析[J].工程设计学报,2024,31(3):309-318,10.基金项目
国家自然科学基金青年科学基金资助项目(51905154) （51905154）
陕西省教育厅2022年度重点科研计划项目(22JY051) （22JY051）
2023年陕西省科技计划项目(2023-YBGY-357) （2023-YBGY-357）
