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为了探索高效、合理的四足机器人步态规划方法,保证机器人稳定地行走,利用关键点描述足底运动轨迹,以满足机器人运动参数和结构化环境的要求。同时,结合机器人运动学模型求得关节关键角度集合,并运用三次样条插值得到关节运动函数,进而实现计算机虚拟样机的仿真。仿真结果证明,该步态规划方法得到的关节运动函数能够使得四足机器人实现15个周期以上的稳定和连续运动,验证了该方法的正确性。
In order to explore an efficient and reasonable gait planning method for four-legged robot and ensure the robot to walk steadily, the key point is used to describe the trajectory of the foot so as to meet the requirements of the robot’s motion parameters and the structured environment. At the same time, combined with the kinematic model of the robot, the key angle set of the joint is obtained, and the cubic spline interpolation is used to obtain the joint motion function, and then the simulation of the computer virtual prototype is realized. The simulation results show that the joint motion function obtained by this gait planning method can make the quadruped robot realize more than 15 cycles of steady and continuous motion, which verifies the correctness of this method.