Tripod gait-based turning gait of a six-legged walking robot
Tripod gait-based turning gait of a six-legged walking robot
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基于三脚架步态的六足步行机器人转弯步态
DOI：
10.1007/s12206-017-0241-y
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发表时间：
2017-03-01
影响因子：
1.6
通讯作者：
Chen, Ying
中科院分区：
文献类型：
--
作者：
Chen, Gang;Jin, Bo;Chen, Ying
提出了一种基于三脚架步态的六足步行机器人的转弯步态规划及改进方法。针对六足步行机器人的转弯步态规划问题，提出了一种考虑非结构化环境的投影方法。摆动腿的身体和足部运动轨迹采用多项式曲线规划，以保持机器人行走时的稳定。利用规划方法，成功地设计了两种基本的回转步态，即绕行和旋转步态。针对非结构化环境下受稳定性、运动学和缓幅约束的转弯角度，提出了一种优化方法。优化后的转弯角度提高了转弯步态的转弯能力。通过仿真和实验实现了旋转和旋转步态。结果表明，该方法的有效性和正确性。
The turning gait planning and improvement methods of a six-legged walking robot on the basis of tripod gait are presented in this study. A projection method that considers an unstructured environment is proposed for the turning gait planning of the six-legged walking robot. The body and foot motion trajectories of the swing legs are planned with polynomial curves to keep the robot steady while walking. Two basic turning gaits, namely, circling and spinning gaits, are successfully designed with the planning method. An optimized method is proposed to improve the turning angle, which is subjected to stability, kinematics, and relief amplitude constraints in the unstructured environment. The turning ability of the turning gait is improved with the optimized turning angle. The circling and spinning gaits are implemented in simulations and experiments. Results demonstrate that the planning and improvement methods for the turning gait are valid and correct.