【摘要】 在四足机器人动态稳定性研究中,为保证四足机器人在采用离线对角步态行走过程中的动态稳定性,研究了一种新的稳定性保证方法,通过模型分析法建立机器人的数学及物理模型,从理论角度分析了重心位置对机器人稳定性的影响,得出了较为合理的重心位置规划区域,并使用Adams动力学仿真分析软件进行了虚拟模型的仿真测试。实验结果验证了改进重心位置规划方法的有效性及合理性,并在实物样机试验过程中有效地保证了机器人行走时的稳定性。更多还原

【Abstract】 Dynamic stability is the focus and difficulty in the quadruped robot research,in order to ensure the dynamic stability of the quadruped robot when walking with offline planned trot gait,we study a new stability keeping method. Under this method,the mathematical and physical models are constructed to analyze the affection of gravity position on the stability of the robot,and a more rational region of gravity position is obtained to keep the dynamic stability. Then,we use the Adams dynamic simulation software to test the virtual prototype under the prepared gait data. The experimental results demonstrate the rationality and effectiveness of the center of the gravity position planning methods,and it can effectively ensure the quadruped robot walk stably with trot gait.更多还原