计算机工程与应用2025，Vol.61Issue(11)：166-175,10.DOI:10.3778/j.issn.1002-8331.2407-0314
仿海胆机器人结构优化设计与自由步态规划
Structural Design and Free Gait Planning of Sea Urchin-Like Robot
摘要
Abstract
Multi-legged rolling robots with omnidirectional mobility are gradually being applied to complex field opera-tions.Given the impact of structural design and gait planning on trajectory tracking,inspired by the sea urchins structure and movement,a 12-legged rolling robot is developed by optimizing the rigid-flexible legs'structure and layout based on Platonic solid model.Referencing the unfolding principles of platonic solids,a free gait planning method is formulated with a gait cycle partitioning strategy and leg scheduling rules.By constructing a dynamics model based on contact forces,a multi-legged coordinated control method for the robot has been established.Simulation and experiment show that the sea urchin-inspired rolling robot,utilizing the proposed free gait planning and multi-leg coordinated control methods,can achieve flexible and precise tracking of target trajectories.关键词
仿海胆机器人/自由步态规划/柏拉图多面体/协同控制/滚动机器人Key words
sea urchin-like robot/free gait planning/Platonic solids/cooperative control/rolling robot分类
信息技术与安全科学引用本文复制引用
刘镓琛,王国河,焦鑫,杜辉翔,宋广泽,李满宏..仿海胆机器人结构优化设计与自由步态规划[J].计算机工程与应用,2025,61(11):166-175,10.基金项目
国家自然科学基金(52275016) （52275016）
中央引导地方科技发展资金(226Z1801G) （226Z1801G）
河北省军民融合科技创新项目(SJMYF2022X20) （SJMYF2022X20）
河北省高等学校科学技术研究项目(JZX2023015,CXZX2025002) （JZX2023015,CXZX2025002）
河北工业大学学科交叉方向研究生培养资助项目(XKJC-2024030,XKJC-2024011). （XKJC-2024030,XKJC-2024011）
