仿生四足机器人单腿轨迹规划研究

doi:10.16180/j.cnki.issn1007-7820.2023.08.011

摘要/Abstract

摘要：

四足机器人因采用离散落足的方式且可适应复杂地形环境而成为国际社会广泛研究的热点。针对四足机器人足端轨迹仿生特性不足、行走效果与哺乳动物不符等问题,文中参考生物运动规律,通过SolidWorks建立三关节腿部机构,获得腿部运动学模型,进而分析腿部轨迹运动。结合仿生特性并基于复合摆线和五次多项式,文中规划了一种复合摆线五次多项式足端轨迹,既满足仿生运动规律,也符合轨迹规划要求。文中采用MATLAB和ADAMS联合仿真实现单腿运动学模拟,采用实物样机和控制系统配合实现单腿实物运动。实验结果表明,四足机器人单腿运动可以实现规划轨迹曲线运动,在第2 s时加速度为0,与仿真轨迹效果基本吻合,这在一定程度上验证了文中所提算法的有效性。

关键词: 四足机器人, 仿生特性, 三维建模, 运动学模型, 轨迹规划, 联合仿真, 轨迹跟踪, 数据拟合

Abstract:

Quadruped robot has become a hot topic in the international community because it can adapt to the complex terrain environment using the way of detached feet.In view of the lack of bionic characteristics of the foot trajectory of the quadruped robot and the inconsistency between the walking effect and that of mammals, this study establishes the three-joint leg mechanism with the help of SolidWorks, obtains the leg kinematic model, and analyzes the leg trajectory motion by referring to the laws of biological movement. Combined with bionic characteristics and based on compound cycloid and quintic polynomial, a foot trajectory of compound cycloid quintic polynomial is planned in this study, which not only meets the law of bionic motion, but also meets the requirements of trajectory planning. In this study, MATLAB and ADAMS co-simulation is used to realize the kinematic simulation of single leg, and the prototype and control system are used to realize the physical motion of single leg. The experimental results show that the single-leg motion of the quadruped robot can realize the planned trajectory curve motion, and the acceleration is 0 at the second second, which is basically consistent with the simulation trajectory effect, which verifies the effectiveness of the proposed algorithm to a certain extent.

Key words: quadruped robot, bionic characteristics, three-dimensional modeling, kinematic model, track planning, joint simulation, trajectory tracking, data fitting

中图分类号:

TP242.3

陈佳,伞红军,陈久朋,徐洋洋. 仿生四足机器人单腿轨迹规划研究[J]. 电子科技, 2023, 36(8): 72-80.

CHEN Jia,SAN Hongjun,CHEN Jiupeng,XU Yangyang. Research on Single Leg Trajectory Planning of Bionic Quadruped Robot[J]. Electronic Science and Technology, 2023, 36(8): 72-80.

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参数	数值
大腿长度	132 mm
小腿长度	192 mm
脚长度	76 mm
髋关节转角范围	[30°~70°]
膝关节转角范围	[20°~110°]
踝关节转角范围	[10°~100°]

i	a_i_-1	θ_i
1	l₁	θ₁
2	l₂	θ₂
3	l₃	θ₃