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四足机器人步态分析及仿真实现

  

  1. 1. 三江学院机械与电气工程学院，江苏 南京 210012；
    2. 河海大学机电工程学院，江苏 常州 213000
  • 出版日期:2017-10-31 发布日期:2017-11-03
  • 基金资助:
    水利部公益性行业科研专项项目(200701033)

Gait Analysis and Simulation of Quadruped Robot

  1. 1. College of Mechanical Engineering, SanJiang University, Nanjing Jiangsu 210012, China;
    2. College of Mechanical Engineering, Hohai University, Changzhou Jiangsu 213000, China
  • Online:2017-10-31 Published:2017-11-03

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摘要： 为实现一种液压驱动的四足机器人稳定行走，根据机器人稳定裕量原则，针对
JQRI00 四足机器人进行了步态规划。根据前期对四足机器人的结构设计，建立了 JQRI00 四足
机器人的虚拟样机；针对其结构特点，分别设计了四足机器人在进行直线行走和转弯时的步态
规划，应用 ADAMS 对虚拟样机进行了直线步态仿真。仿真结果准确、合理，表明所研究的步
态规划正确、可行，能够实现四足机器人稳定行走，为机器人后期进行驱动控制奠定了基础。

关键词: 四足机器人, 虚拟样机, 步态规划, 运动学分析

Abstract: Aiming at achieving the stable walking of a hydraulic driving quadruped robot, according
to the principle of stability margin, a linear and turning gait planning for JQRI00 quadruped robot
were researched. The virtual prototype of JQRI00 quadruped robot were established according to the
structure characteristics of quadruped robot, and the linear gait simulation of virtual prototype was
carried out by using ADAMS. The simulation results show that the gait planning is correct and
feasible, which achieves the stable walking and lays a foundation for the control of the robot in the
later stage.

Key words: quadruped robot, virtual prototype, gait planning, kinematic analysis