一种四足机器人对角步态仿真分析

doi:10.16180/j.cnki.issn1007-7820.2020.05.006

Abstract

Abstract:

The bionic quadruped robot has become the focus of bionics research because of its simple control, strong adaptability to various road conditions, and environmental adaptability. Aiming at the complexity of quadruped robot model and the difficulty of diagonal gait control, a quadruped robot simulation platform was established in the proposed study. The quadruped robot model was built from SolidWorks and its kinematics equation was obtained. The diagonal walking of the robot was realized by the method of ADAMS and Simulink. The simulation showed that the robot had a forward distance of about 0.65 m in 7 s and a small amount of centroid fluctuation in the vertical direction, which proved that the robot could achieve stable operation and laid a solid foundation for robot dynamics and trajectory planning.

Key words: quadruped robot, diagonal gait, ADAMS, Simulink, SolidWorks, stable operation

CLC Number:

TP242.3

CHEN Jiupeng,SAN Hongjun,ZHANG Daoyi,HU Qiongqiong,ZHANG Kaixiang,XIONG Binzhou. Diagonal Gait Simulation Analysis of a Quadruped Robot[J].Electronic Science and Technology, 2020, 33(5): 33-38.

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参数	单位/mm
机身长度	1 200
机身宽度	560
机身高度	735.5
大腿长度	530
小腿长度	320
地板	800×5 000

Diagonal Gait Simulation Analysis of a Quadruped Robot

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