| 基于质心稳定的四足机器人轨迹规划与仿真 |
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| 引用本文： | 闫国杰,刘士宾,陈雄武.基于质心稳定的四足机器人轨迹规划与仿真[J].农业装备与车辆工程,2020,58(6):54-57. |
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| 作者姓名： | 闫国杰 刘士宾 陈雄武 |
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| 作者单位： | 200093 上海市 上海理工大学机械工程学院;200093 上海市 上海理工大学机械工程学院;200093 上海市 上海理工大学机械工程学院 |
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| 摘 要： | 以四足机器人为研究对象,对机器人足端轨迹进行3种轨迹规划。以机器人质心稳定为原则,在trot对角步态下对每种足端轨迹进行仿真分析,从而选择出最优的足端轨迹。为trot步态下四足机器人足端轨迹规划研究提供了新思路和新方向。
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| 关 键 词： | 四足机器人 trot对角步态 足端轨迹 规划 质心稳定 |
Trajectory Planning and Simulation of Quadruped Robot Based on Centroid Stability |
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| Yan Guojie,Liu Shibin,Chen Xiongwu.Trajectory Planning and Simulation of Quadruped Robot Based on Centroid Stability[J].Agricultural Equipment & Vehicle Engineering,2020,58(6):54-57. |
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| Authors: | Yan Guojie Liu Shibin Chen Xiongwu |
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| Institution: | (School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China) |
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| Abstract: | With the quadruped robot as the research object,3 kinds of trajectory plan are carried out on the robot's foot-end trajectory.Based on the principle of robot centroid stability,each foot-end trajectory is simulated and analyzed under the trot diagonal gait,so that the optimal foot-end trajectory can be selected.It provides a new idea and a new direction for the research on the planing of foot-end trajectory of quadruped robot under the trot gait. |
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| Keywords: | quadruped robot trot diagonal gait foot-end trajectory planning centroid stability |
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