现代制造工程Issue(3)：48-54,7.DOI:10.16731/j.cnki.1671-3133.2026.03.006
基于视觉和触觉的四足机器人越障步态设计
Obstacle-crossing gait design of quadruped robot integrating vision and touch
摘要
Abstract
A quadruped robot obstacle navigation method is proposed that integrates vision and tactile sensing,trajectory planning,and real-time gait adjustment.This method is designed to address scenarios where the robot encounters various obstacles on une-ven terrain.This method leverages OpenCV technology to identify and process obstacles in real time,enabling the robot to select an appropriate gait based on the characteristics of each obstacle.During gait planning,the generation of the foot trajectory is influ-enced by multiple factors,including position,velocity,acceleration,and inverse kinematics.The system combines real-time visual and tactile sensor data with forward kinematics to infer foot position,thereby formulating an obstacle navigation strategy.Simula-tion tests on the Webots platform and experiments with a quadruped robot have demonstrated the method's adaptability and stabil-ity.关键词
视觉/触觉/四足机器人/越障/OpenCV技术/Webots平台Key words
vision/touch/quadruped robot/obstacle-crossing/OpenCV technology/Webots platform分类
信息技术与安全科学引用本文复制引用
郝壮志,张良栋,廖映华,龚尉东..基于视觉和触觉的四足机器人越障步态设计[J].现代制造工程,2026,(3):48-54,7.基金项目
四川省中央引导地方科技发展专项项目(2024ZYD0336) （2024ZYD0336）
