机械科学与技术2026，Vol.45Issue(2)：236-243,8.DOI:10.13433/j.cnki.1003-8728.20240008
鳄鱼仿生机器人设计及其步态优化研究
Study on Design and Gait Optimization of Bionic Crocodile Robots
摘要
Abstract
In order to enhance the adaptability of the crocodile-inspired robot to diverse work environments and task requirements,after analyzing the crawling gait and rolling motion of crocodiles,a metamorphic mechanism for its legs is designedto achieve crawling and rolling functions in the crocodile-inspired bionic robot.Initially,the study employed the central pattern generator(CPG)motion control network model based on the Hopf non-linear oscillator to map the rhythmic signals to the robot's leg joint rotation angles.Subsequently,by applying the zero-moment point(ZMP)principle to analyze the stability of the crocodile robot,a method to reduce yaw angle by swinging the tail was proposed to optimize its crawling gait.Finally,MATLAB and ADAMS joint simulation analysis was conducted,the results indicate that the designed crocodile-inspired robot exhibits stable motion capability under different gaits.关键词
变胞机构/仿生机器人/中央模式发生器/步态优化/稳定性分析Key words
metamorphic mechanism/bionic robots/CPG/gait optimization/stability analysis分类
信息技术与安全科学引用本文复制引用
堵同锒,周祖鹏..鳄鱼仿生机器人设计及其步态优化研究[J].机械科学与技术,2026,45(2):236-243,8.基金项目
广西自然科学基金项目(2022GXNSFAA035571) （2022GXNSFAA035571）
