Structural Design and Gait Planning of Hydraulically Actuated Quadruped Bionic Robot

液壓驅動四足仿生機器人結構設計與步態規劃

高炳微(Bing-Wei Gao) ； 邵俊鵬(Jun-Peng Shao) ； 孫桂濤(Gui-Tao Sun)

《中國機械工程學刊》 36卷5期 (2015/10) Pp. 421-430

摘要

為了設計出能夠適應複雜地形環境，運動靈活，具有高負載能力的四足機器人，本文依據仿生學原理，根據犬類哺乳動物的運動模式和生理結構構造了單腿具有4 個自由度的基於液壓驅動的腿關節結構，滿足了機器人高靈活性和高負載能力的需要。基於四足機器人的運動學和逆運動學模型，規劃了機器人穩定的對角小跑步態。在ADAMS環境下進行了平坦路面上的機器人trot 步態的仿真，通過MATLAB 數值計算和仿真測試，對機器人在對角小跑行走方案下的軀體運動姿態進行對比，驗證了所建運動學模型的可靠性。最後，在ADAMS 中對機器人進行不規則路面上負重能力仿真，仿真結果驗證了液壓驅動四足機器人的高承載能力和高地形適應能力，同時表明了機器人結構設計的合理性和步態規劃的有效性。

並列摘要

In order to be able to design a quadruped robot with strong terrain adaptation, flexible movement and high load capacity, a hydraulically actuated quadruped bionic robot is designed based on the principle of bionics to meet the need for the high flexibility and high load capability, and each leg has four degrees of freedom according to the movement patterns and the physiological structure of the canine mammal. The stable trotting gait of the quadruped robot is planned based on the forward kinematics and inverse kinematics. And the simulation of the trotting gait on the flat road is executed in ADAMS, so that the motion performances can be tested through the simulation. The body posture under the trotting gait is compared by MATLAB numerical calculation and the simulation testing, and the comparative results show that the kinematic model is reliable. Finally, the simulation is carried out to estimate the load capacity on irregular road in ADAMS, and the results show the hydraulically driven quadruped robot has a high load capacity and high terrain adaptability. Meanwhile, it verifies that the mechanical structure is reasonable and the gait planning is effective.

並列關鍵字

quadruped bionic robot ； kinematic model ； gait planning ； simulation