三肢体机器人行走步态规划研究

摘要

Three walking gaits of wriggly walking,overturn walking and cross walking in a new three-limb permanent magnet adsorption robot can be applied in different working conditions.The kinematic planning research on the three gaits was conducted.In order to simplify the problem,the strategy of ‘two as one’ was employed to treat the two lateral limbs that move synchronously as one limb,and a practical walking gait algorithm was derived,based on which,the robot walking gaits simulations were carried out using MATLAB.The results show that robot had continuous and stable walking gaits by the three gaits,which lay the foundation of design of the further motion control system.%针对一种新型采用三腿机构形式的永磁吸附肢体机器人,其所具有的蠕动、翻转以及交叉三种行走步态可分别用于不同的工作场景.对机器人的三种运动步态进行了运动规划研究,为了降低机器人行走步态规划的复杂性,采用“合二为一”的策略,将机器人动作一致的两侧肢体作为一个肢体来规划,得到了具体的机器人运动规划算法.在此基础上,采用MATLAB软件进行了机器人行走步态运动仿真,仿真结果表明,机器人在采用三种步态行走时,各运动关节具有很好的运动连续性和平稳性,为后续运动控制系统的设计奠定了基础.