具腰關節四足機器人其對稱步態之設計

The Symmetrical Gait Design for Quadruped Robot with Waist Joint

謝昌穎(Chang-Ying Sie) ； 季永炤(Yeung-Jaw Jih)

《國立虎尾科技大學學報》 32卷1期 (2014/06) Pp. 1-11

https://doi.org/10.6425/JNHUST.201406_32(1).0001

摘要

本研究針對具腰關節四足機器人進行其步態之設計。本文首先探討適合腰關節運動特性之步態，以使用快步步態為基礎發展具腰關節四足機器人之對稱步態。本文亦討論並定義適當之座標系統以利運動學之計算，同時加入限制條件以簡化因增加腰部運動關節使反運動學產生贅餘度的問題，並在快步步態中加入二個四隻腳在地之狀態以改善穩定性與工作空間重疊的問題。再者分析因腰關節運動的影響而產生之足部工作空間偏移問題而進行補償，並利用此特性於增加行進之步幅。最後藉由軟體LabVIEW 建立足型機器人之模型，分析本研究提出之步態的穩定性與有效性。

關鍵字

四足機器人 ； 腰關節 ； 快步步態 ； 工作空間

並列摘要

This paper discusses the design of a gait pattern for quadruped robot which has waist joint. This paper investigate the motion characteristic of the suitable gait for quadruped robot with waist joint. The trot gait is used as the base for the development of such gait with symmetrical motion pattern. The appropriate coordination system for generating the kinematic of the gait control is also introduced. Restrictions are added to the kinematics model to simplify the movement of the joints due to increased waist motion in order for solving the inverse kinematics problem. and adding Two four-legged standing states are placed into the trot gait pattern to improve the stability and to avoid the work space overlapping. Further analysis of compensation of the workspace offsets of legs due to the impact of waist joint movement is studied. The advantages of increasing the walking stride and the stability with this gait design are highlighted. The gait kinematics model is build and simulated with the LabVIEW to investigate the effectiveness of the proposed gait.

並列關鍵字

Quadruped robot ； waist joints ； trot gait ； workspace

參考文獻

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