摘要
Abstract
Objective This paper investigated the configuration and kinematics,gait and foot trajectory planning,and attitude control of a quadrupedal robot in Trot gait.Methods First,according to the leg configuration characteristics of the foot robot,the quadruped robot with front elbows and back knees was selected,and its leg structure was the jointed leg and foot configuration.Secondly,the kinematics of the quadruped robot was established by the D-H coordinate method,and the derivation from Joint Space to Task Space was realized by using the geometric relationship of each joint and the geometric graphical method.The requirements of the foot trajectory were analyzed,and a fifth-degree polynomial was used to plan the foot trajectory.The attitude control strategy was designed:relative position controls were added between the ends of the four legs and the body;the PI controller was used to correct the attitude data output from the body attitude sensor;the output attitude data were combined with the results of trajectory planning;through the inverse kinematics solution,the relative positions between the foot ends of the four legs and the body were adjusted to control the body attitude.This attitude control strategy was applied to the Trot gait walking of the quadruped robot.Results To prove its effectiveness,Simulink of MATLAB was used to simulate and compare the attitude control with the open-loop control,and the results showed that R,P,and Y angles of the quadruped robot walking under the attitude control strategy were significantly smaller than those under the open-loop control.Conclusion The results show that this attitude control strategy is feasible to be applied to the Trot gait,and the walking stability of the quadruped robot is greatly improved.关键词
四足机器人/Trot步态/姿态控制/仿真分析Key words
quadruped robot/Trot gait/attitude control/simulation analysis分类
计算机与自动化
