东北大学学报（自然科学版）

东北大学学报:自然科学版 ›› 2018, Vol. 39 ›› Issue (5): 673-678.DOI: 10.12068/j.issn.1005-3026.2018.05.014

• 机械工程 • 上一篇    下一篇

四足机器人坡面行走稳定性分析

马宗利， 张培强， 吕荣基， 王建明   

  1. (山东大学 高效洁净机械制造教育部重点实验室， 山东 济南250061)
  • 收稿日期:2016-12-05 修回日期:2016-12-05 出版日期:2018-05-15 发布日期:2018-05-25
  • 通讯作者: 马宗利
  • 作者简介:马宗利(1967-)，男，山东青岛人，山东大学副教授； 王建明(1962-)，男，山东济南人，山东大学教授.
  • 基金资助:
    国家自然科学基金资助项目(51375267).

Stability Analysis of Walking on the Slope for a Quadruped Robot

MA Zong-li， ZHANG Pei-qiang， LYU Rong-ji， WANG Jian-ming   

  1. Key Laboratory of High-efficiency and Clean Mechanical Manufacture， Ministry of Education， Shandong University， Jinan 250061， China.
  • Received:2016-12-05 Revised:2016-12-05 Online:2018-05-15 Published:2018-05-25
  • Contact: WANG Jian-ming
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摘要： 为了提高四足机器人坡面行走的稳定性，四足机器人的小腿采用液压缸，并提出了通过增大机器人后腿小腿腿长和减小前腿小腿腿长的方法，使机器人质心向前移动，从而提高坡面行走稳定性.对四足机器人进行了运动学分析，计算了四足机器人前腿和后腿小腿腿长的调整量与坡面倾斜角度的关系.利用Adams和Matlab，对四足机器人进行了联合仿真.仿真结果表明，四足机器人能够以trot步态在坡面上稳定行走，验证了四足机器人质心调整方法的有效性.

关键词: 四足机器人, 质心调整, 腿长变化, trot步态, 稳定性

Abstract: The hydraulic cylinders were adopted for building the quadrupeds shins. In order to improve the locomotion stability on the slope， a mass center adjusting method by increasing the length of the rear shins and decreasing the length of the front thins was proposed. The kinematics of the quadruped robot was analyzed. The relationship between the adjustment length of the front shins and rear shins as well as the slope angle were calculated. By using Adams and Matlab， the coordinated simulation of the robot was performed. The simulation results show that the robot is capable to move steadily on the slope with trot gait. The effectiveness of adjusting the center of mass of a quadruped robot is verified.

Key words: quadruped robot, adjusting the center of mass, changes of the shin length, trot gait, stability

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