基于地面反力检测的四足马机器人适应步行法

作者：陶卫军1，余联庆2，冯虎田1 日期：2009-06-24/span> 浏览：3781 查看PDF文档

基于地面反力检测的四足马机器人适应步行法

陶卫军1，余联庆2，冯虎田1
（1.南京理工大学 机械工程学院，江苏 南京 210094； 2.武汉科技学院 机电工程学院，湖北 武汉 430073）

摘要：为适应国内外对四足马机器人进行的广泛研究，根据四足马机器人的结构模型和步行稳定性分析，对其适应步行法进行了研究。首先，介绍了具有12个运动关节和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，在分析步行稳定性和检测地面反力的基础上，提出了一种四足马机器人适应步行的实现方法；最后，通过自制的小型四足马机器人进行了适应步行实验。实验结果表明，所提出的四足马机器人适应步行法具有可行性。
关键词：结构模型；适应步行；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)06-0009-05

Adaptive gait of a quadruped horse robot based on measuring the ground reaction force
TAO Weijun1, YU Lianqing2, FENG Hutian1
(1. College of Mechanical Engineering, Nanjing University of Science & Technology, Nanjing 210094, China;
2. College of Mechanical & Electrical Engineering, Wuhan University of Science & Engineering, Wuhan 430073, China)
Abstract: In order to adopt the wide research on quadruped horse robot at home and abroad, according to the analysis of structure model and walk stability, the adaptive gait of a quadruped horse robot was researched. At first, a structure model of this quadruped robot with 12 joints and four globose feet was introduced, and the reverse kinematics of this robot was acquired. And then, based on analyzing the walk stability and measuring the ground reaction force, a methods was proposed to realize the adaptive walk of the quadruped horse robot. Finally, walk experiments were performed based on a selfmade mini quadruped horse robot. The walk experiment results indicate the validity of proposed adaptive gait of the quadruped horse robot.
Key words: structure model; adaptive gait; walk stability; quadruped horse robot
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