四足机器人运动及稳定控制关键技术综述

doi:10.13229/j.cnki.jdxbgxb.20240722

摘要/Abstract

摘要：

本文在分析四足机器人主要研究内容的基础上，基于四足机器人运动及稳定控制要求，对四足机器人的机构设计、运动学与动力学分析、步态与足端轨迹规划、关节驱动器、运动稳定控制等关键技术进行了梳理与总结，构建了各技术模块之间的逻辑关系，系统阐述了四足机器人运动及稳定控制架构，可为足式机器人研究者提供参考。

关键词: 四足机器人, 动力学建模, 最优足底力优化, 模型预测控制

Abstract:

This paper analyses the main research on quadruped robots，based on the motion and stability control requirements of quadrupedal robots， the key technologies of quadrupedal robots， such as mechanism design， kinematics and dynamics analysis， gait and foot trajectory planning， joint actuators， motion stability control， etc.， are sorted out and summarised， and the logical relationship between each technology module is constructed， so as to systematically illustrate the motion and stability control architecture of quadrupedal robots， which can be used as reference for the researchers of foot-type robots.

Key words: quadruped robot, dynamics modeling, optimal foot force optimization, model predictive control

中图分类号:

TP242

王旭. 四足机器人运动及稳定控制关键技术综述[J]. 吉林大学学报(工学版), 2025, 55(5): 1483-1496.

Xu WANG. An overview of key technologies for quadruped robot motion and stability control[J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(5): 1483-1496.

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参考文献 24

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步态	β	相位差（?_i ：相位）
步态	β	左前腿	左后腿	右前腿	右后腿
爬行	β＞0.75	0	3/4	1/2	1/4
步行	β=0.75	0	3/4	1/2	1/4
对角小跑	β=0.5	0	1/2	1/2	0
溜步	β=0.5	0	0	1/2	1/2
跳跃	β=0.5	0	1/2	0	1/2
疾驰	β<0.5	0	≈1/2	≈0	≈1/2