【摘要】 由于足式机器人具有适应复杂地形的应用潜力,近年来受到了国内外研究人员的广泛关注。首先,设计了Rhex机器人的本体结构,其突出特点是具有半圆形柔顺腿,该腿有一个关节,由一个直流电机驱动,结构简单,控制方便。其次,建立了Rhex的SLIP动力学模型,该模型将腿等效为弹簧倒立摆,通过规划髋关节的输出特性,驱动Rhex运动。最后,通过单腿跳跃仿真实验验证了SLIP动力学模型的正确性和有效性。更多还原

【Abstract】 For legged robots have the potential of adapting to the complex terrains,recent years it has received the attention of researchers both at home and abroad.First,the structure of Rhex is designed in this paper.Its outstanding feature is a semicircle soft leg that has a joint motioned by a DC motor.It has a simple structure and easy to control.Next we build the SLIP dynamical model of Rhex,which makes the leg equivalent to the spring inverted pendulum.Rhex’s movement is drived by planning the output characteristic,of hip joint.Finally,a hopping simulation platform is built,verifying the correctness and effectiveness of dynamic model.更多还原