一种四足马机器人的结构模型及其步行控制

作者：陶卫军，余联庆，冯虎田 日期：2009-04-21/span> 浏览：4029 查看PDF文档

一种四足马机器人的结构模型及其步行控制

陶卫军，余联庆，冯虎田
（南京理工大学 机械工程学院，江苏 南京 210094）

摘要：参照马的生理结构，对四足马机器人的一种结构及其步行控制方法进行了研究。为验证该方法的有效性，首先，根据仿生原理设计出具有12个运动关节和4个球形脚部的四足马机器人结构模型，并求出了其运动学反解；其次，基于提出的结构模型，设计并实现了四足马机器人行走步态和对角小跑步态，并对步行稳定性进行了分析。步行实验表明，所提出的四足马机器人仿生结构及两种步态的实现方法具有可行性。
关键词：结构模型；步态；步行稳定性；四足马机器人
中图分类号：TP242文献标识码：A文章编号：1001-4551(2009)03-0094-05

A structure model of quadruped horse robot and its walking control
TAO Wei-jun, YU Lian-qing, FENG Hu-tian
(School of Mechanical Engineering, Nanjing University of Science & Technology, Nanjing 210094, China)
Abstract: Referring to the physiological structure of horse, the structure and walking control method of a quadruped robot was researched. In order to check the aceuracy of this method, at first, a structural model of quadruped horse robot, which has 12 joints and four globose feet, was designed according to the bionic theory, and the reverse kinematics of this robot was acquired. And then, based on the structural model, the walk gait and trot gait were designed and realized. The walk experiment results indicate the validity of proposed structural model for quadruped horse robot and realization method of its two gaits.
Key words: structure model; gait; walk stability; quadruped horse robot
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