基于虚拟样机技术的四足机器人静态稳定步态规划

Static Gait Planning of Quadruped Robot Based on Virtual Prototype Technology

摘要:

针对现有技术文献中广泛使用的多种静态稳定步态中速度稳定性与稳定裕度不可兼得的通病,在随动质心的静态步态基础上,利用参数化坐标变换矩阵方法规划出一种四足机器人前进过程中质心以曲线轨迹移动的静态步态方法,使该步态方法以连续性速度运动的过程中保证一定稳定裕度；通过D-H法求得四足机器人的逆运动学坐标变换矩阵,分别在三维空间中对四足机器人的四组足端轨迹方程进行规划,并带入MATLAB软件后以逆运动学方程计算出关节夹角驱动方程,利用步态规划图求出机器人四条腿各自对应的夹角驱动方程以及机体质心轨迹方程；最后在MSC.ADAMS软件中建立四足机器人虚拟样机并对规划的步态进行虚拟仿真,仿真结果验证了该步态对提升四足机器人对于速度连续性以及稳定裕度的提升。

Abstract:

To solve the problem existed in relative essays that static gait planning methods can’t embrace enough stability margin and velocity continuity simultaneously,a new static gait which the centroid of quadruped robot move along curved line was planned based on a widely used static gait. The new static gait can move in continuous velocity with enough stability margin. After establishing kinematic model of the quadruped robot by using D-H method,the parametric coordinate transformation matrices were derived and the foot motion trajectories of four legs could be solved in three-dimensional space. Joint angle equation were solved by computing in MATLAB software. Finally,the virtual prototype of quadruped robot was built in MSC.ADAMS and simulation of the new static gait was completed. The result of simulation proved that the new static gait can improve stability of quadruped robot’s movements and velocity continuity effectively. 