Скачать или смотреть Kinematic Modeling and Trotting Gait Planning for the Quadruped Robot with an Active Spine

To solve the unbalance problem caused by the moment around the diagonal supporting axis for the quadruped robot in the trotting gait, two novel methods of trotting gait planning are proposed based on the kinematic modeling and the analysis of the unbalance reason, including trotting gait combined with the abduction and adduction of legs and trotting gait combined with the spine motion in the yaw direction. The former introduces the abduction and adduction of legs to adjust the foot trajectories of the supporting legs. The latter augments the spine motion in the yaw direction to regulate the center of gravity of the robot while keeping the foot trajectories changeless. The two methods both make the center of gravity of the robot locate on the diagonal supporting axis in the whole trotting gait. The simulation results show that compared with the common trotting gait and the trotting gait with the foot trajectory moving backward, the proposed trotting gaits greatly improve the locomotion stability of the robot. In addition, the robustness of the proposed gaits is verified when deviations of the model parameters exist.
脊柱型四足机器人运动学建模及对角小跑步态规划
针对四足机器人在常规对角小跑步态中绕对角支撑线的翻转力矩会导致机器人失衡问题,在运动学建模和失衡原因分析的基础上提出了2种新颖的对角小跑步态规划方法:叠加腿部侧摆运动的对角小跑步态和叠加脊柱偏航摆动的对角小跑步态.前者引入腿的侧摆关节的运动调节支撑腿足端轨迹,后者增加脊柱偏航关节的运动调节机器人的重心并保持足端轨迹不变,这2种方法均使机器人重心在整个对角小跑步态周期位于对角支撑线上.仿真结果显示,相比于常规对角小跑步态和足端轨迹后移的对角小跑步态,提出的对角小跑步态规划方法显著提高了机器人运动的稳定性.此外,提出的规划方法在存在模型误差时具有鲁棒性.
DOI: 10.3969/j.issn.1001-0505.2019.06.001
韦中, 宋光明, 孙慧玉, 乔贵方, 戚奇恩, 何淼, & 宋爱国. (2019). 脊柱型四足机器人运动学建模及对角小跑步态规划. 东南大学学报 (自然科学版), 49(6), 1019-1025.