崎岖地形环境下四足机器人的静步态规划方法

doi:10.13229/j.cnki.jdxbgxb201604039

吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (4): 1287-1296.doi: 10.13229/j.cnki.jdxbgxb201604039

崎岖地形环境下四足机器人的静步态规划方法

张帅帅¹, 荣学文¹, 李贻斌¹, 李彬²

1.山东大学控制科学与工程学院, 济南 250061;
2.齐鲁工业大学理学院, 济南 250353

收稿日期:2014-12-11 出版日期:2016-07-20 发布日期:2016-07-20
通讯作者: 荣学文(1973),男,高级工程师.研究方向:机器人技术,智能控制理论.E-mail:rongxw@sdu.edu.cn
作者简介:张帅帅(1986-),男,博士研究生.研究方向:四足机器人,智能控制系统.E-mail:zhangshuaisdu@163.com
基金资助:
国家自然科学基金重点项目(61233014); “863”国家高技术研究发展计划项目(2015AA042201); 国家自然科学基金项目(61305130); 中国博士后科学基金项目(2013M541912)

Static gait planning method for quadruped robots on rough terrains

ZHANG Shuai-shuai¹, RONG Xue-wen¹, LI Yi-bin¹, LI Bin²

1.School of Control Science and Engineering, Shandong University, Ji'nan 250061, China;
2.School of Science, Qilu University of Technology, Ji'nan 250353, China

Received:2014-12-11 Online:2016-07-20 Published:2016-07-20

摘要/Abstract

摘要： 为了使四足机器人能够通过姿态调整提高其自身的地形适应性,给出了机器人姿态调整角的计算方法。四足机器人在行走过程中通过躯干的摆动增加稳定裕度,并使用五次曲线对躯干运动轨迹进行规划,保证了整个运动过程的连续性。另外,为克服机器人无法获取地形信息的不足,规划了一种矩形摆动足足底轨迹。仿真实验结果表明:使用提出的静步态规划方法,四足机器人可以在未知地形信息的情况下,实时、自主、稳定地通过复杂度较高的崎岖地形。

关键词: 自动控制技术, 四足机器人, 静步态规划, 躯干运动曲线, 足底轨迹

Abstract: In order to improve the ability of quadruped robots to cross rough terrains, a static gait planning method is proposed. This method consists of three parts: the posture adjustment planning, the body trajectory planning and the foot trajectory planning. To improve the adaptability of the quadruped robot to the terrain through the posture adjustment, a method to calculate the pitching angle is proposed. The robot can obtain enough stability margin through a body sway motion, and the continuity of movement during the whole walking process can be guaranteed by using a quintic body trajectory. In addition, a box shape foot trajectory planning method is given to overcome the situation that the robot can not obtain the information of the terrain. Using the proposed static gait planning method, the robot can autonomously navigate through unknown irregular terrains with sufficient stability margin in real time.

Key words: automatic control technology, quadruped robot, static gait planning, body moving trajectory, foot trajectory

中图分类号:

TP242.6

张帅帅, 荣学文, 李贻斌, 李彬. 崎岖地形环境下四足机器人的静步态规划方法[J]. 吉林大学学报(工学版), 2016, 46(4): 1287-1296.

ZHANG Shuai-shuai, RONG Xue-wen, LI Yi-bin, LI Bin. Static gait planning method for quadruped robots on rough terrains[J]. 吉林大学学报(工学版), 2016, 46(4): 1287-1296.

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崎岖地形环境下四足机器人的静步态规划方法

Static gait planning method for quadruped robots on rough terrains

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