仿生四足机器人单腿轨迹规划研究

doi:10.16180/j.cnki.issn1007-7820.2023.08.011

Abstract

Abstract:

Quadruped robot has become a hot topic in the international community because it can adapt to the complex terrain environment using the way of detached feet.In view of the lack of bionic characteristics of the foot trajectory of the quadruped robot and the inconsistency between the walking effect and that of mammals, this study establishes the three-joint leg mechanism with the help of SolidWorks, obtains the leg kinematic model, and analyzes the leg trajectory motion by referring to the laws of biological movement. Combined with bionic characteristics and based on compound cycloid and quintic polynomial, a foot trajectory of compound cycloid quintic polynomial is planned in this study, which not only meets the law of bionic motion, but also meets the requirements of trajectory planning. In this study, MATLAB and ADAMS co-simulation is used to realize the kinematic simulation of single leg, and the prototype and control system are used to realize the physical motion of single leg. The experimental results show that the single-leg motion of the quadruped robot can realize the planned trajectory curve motion, and the acceleration is 0 at the second second, which is basically consistent with the simulation trajectory effect, which verifies the effectiveness of the proposed algorithm to a certain extent.

Key words: quadruped robot, bionic characteristics, three-dimensional modeling, kinematic model, track planning, joint simulation, trajectory tracking, data fitting

CLC Number:

TP242.3

CHEN Jia,SAN Hongjun,CHEN Jiupeng,XU Yangyang. Research on Single Leg Trajectory Planning of Bionic Quadruped Robot[J].Electronic Science and Technology, 2023, 36(8): 72-80.

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参数	数值
大腿长度	132 mm
小腿长度	192 mm
脚长度	76 mm
髋关节转角范围	[30°~70°]
膝关节转角范围	[20°~110°]
踝关节转角范围	[10°~100°]

i	a_i_-1	θ_i
1	l₁	θ₁
2	l₂	θ₂
3	l₃	θ₃

Research on Single Leg Trajectory Planning of Bionic Quadruped Robot

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