现代制造工程Issue(5)：53-63,11.DOI:10.16731/j.cnki.1671-3133.2025.05.007
四足机器人后退步态稳定性分析与规划
Stability analysis and planning of the quadruped robot backward gait
摘要
Abstract
Aiming at the demand for stable walking of quadruped robots,a stability analysis and planning research of the backward gait of quadruped robot was carried out.Firstly,the structure of the legged robot was introduced.The motion coordinate system was established by D-H method,and the auxiliary action parameters were preliminarily determined.Then,the stability margin in-dex was used to characterize the static and dynamic stability of the quadruped robot,and the relationship between the center posi-tion of gravity and time was calculated according to motion parameters and joint drive functions.Next,in the gait design process of quadruped robots,the influence of leg and head to tail movements on the center of gravity of the quadruped robot was analyzed,and the full-cycle action sequence of the backward gait was planned through active and auxiliary actions,and the action parame-ters of the backward gait were determined.Finally,the feasibility and effectiveness of the proposed method were verified by virtual prototype simulation and physical prototype experiment,which provides theoretical method support for gait analysis of quadruped robot.关键词
四足机器人/后退步态/稳定裕度/稳定性Key words
quadruped robot/backward gait/stability margin/stability分类
计算机与自动化引用本文复制引用
简艳英,鲍治国..四足机器人后退步态稳定性分析与规划[J].现代制造工程,2025,(5):53-63,11.基金项目
河南省科技攻关项目(212102210533) （212102210533）
河南省高等学校重点科研项目(24B520030) （24B520030）
