机械科学与技术2025，Vol.44Issue(8)：1326-1334,9.DOI:10.13433/j.cnki.1003-8728.20230314
并联腿四足机器人的参数优化和步态控制
Parameter Optimization and Gait Control of Quadruped Parallel Legged Robot
摘要
Abstract
The parallel legs of quadruped robot have good structural stiffness,accurate movement and strong bearing capacity,but the control is difficult.In order to solve the control and performance optimization problems of parallel-legged quadruped robot,the planar 2DOF 5R parallel leg mechanical structure of a quadruped robot is analyzed in this paper,with the Spring-Load Inverted Pendulum model control,the SLIP model is equivalently extended to the trot gait control of the quadruped robot.The genetic algorithm was used to optimize the relevant system parameters of SLIP with energy loss and motion error as the fitting functions,and the influence of the system parameters on the energy loss and motion error was summarized.Simulation result displays that the maximum errors of the four-legged robot's motion speed,jumping height and body pitching position on the flat are 1.95%,2.36%and 0.47°respectively.关键词
平面5R并联腿/SLIP模型/遗传算法/对角小跑Key words
planar 5R parallel leg/SLIP model/genetic algorithm/running trot分类
信息技术与安全科学引用本文复制引用
陈明方,李明,张永霞,陈中平,莫翔..并联腿四足机器人的参数优化和步态控制[J].机械科学与技术,2025,44(8):1326-1334,9.基金项目
国家自然科学基金项目(51965029) （51965029）
