摘要多足机器人因应用前景良好、实用价值高，一直是国内外学者研究的热点，而步态规划及控制作为研究多足步行机器人的关键技术之一也备受关注。本论文以Bigdog四足步行机器人为例，对其腿部进行纯数学与运动学分析，给出了站立腿、摆动腿与整体正运动学的相关计算方法。同时，对四足步行机器人进行了步态规划与静态平衡分析。接下来，重点讨论了四足机器人于对角小跑步态时，考虑腿部关节为保持机体平衡提供积极的作用，在不平坦地面上的静态平衡分析，并给出具体的算法流程与计算程序示例。此外，为了保证四腿机器狗在爬坡的过程中的机身稳定性，推导出了斜坡最大坡度角的计算方法并给出了计算程序示例。最后，给出了Bigdog3D对角小跑动画仿真。8329
关键词运动学步态规划静态平衡对角小跑步态最大坡度角3D动画仿真
Title Kinematic Model and 3D Simulation of a Bigdog Quadruped
Walking Robot
Abstract
Because of good application prospects and high practical value, the
multi-legged robot is always research hot points for foreign and domestic
scholars. At the same time, so much attention is paid to the gait planning
and controlling which is one of the key technologies of studying the
multi-legged robot.
In this paper, we present kinematics Modeling and Analysis of leg movement
of the Bigdog Quadruped Walking Robot, and develop the methods of calculating
the kinematics of standing and swing legs， and the forward kinematics of
the whole robot.
At the same time, we make gait planning and static equilibrium analysis
on the quadruped walking robot. Moreover, we study the static equilibrium
analysis of the quadruped walking robot on uneven ground and make the
algorithm processes and the calculation procedure, which moves with the
diagonal trot gait and can keep balance of the whole body based on leg joints
that is for the positive effect. In addition, in order to keep the whole
body balance of the quadruped walking robot in the climbing process, we
develop the calculation methods of the maximum slope angle and the
calculation procedure. Finally, we give the 3D animation simulation of
Bigdog walking with a trotting gait that lifts diagonal legs in pairs.
Keywords Kinematics Gait planning Static equilibrium
Diagonal trot gait Maximum slope angle
1引言1
1．1课题来源及研究目的.1
1.1.1课题来源1
1.1.2课题研究目的2
1．2课题的研究背景.2
1．3国内外多足机器人的发展与研究概况[1][10][11][12]
5
1．4课题研究的意义.7
1．5本文的研究工作.7
1．6本文的结构安排.7
2四腿机器狗的腿部结构与腿部运动学分析8
2．1狗腿的结构特征.8
2．2自由度的分析.9
2．3站立腿的运动学计算[34]
11
2．4摆动腿的运动学计算[1]
.15
2．5多足步行机器人的正运动学[34]
18
2．6本章小结26
3四腿机器狗的步态规划.28
3．1步行机器人步态概论28
3．2步态基本概念[11]
28
3．3占空系数的分析30
3．4四足机器人步态规划30
3．5四腿机器狗于平坦地面的静态稳定性分析31
3.5.1静态稳定性的一般描述.31
3.5.2静态稳定性分析——平衡受力分析.32 Bigdog机器狗运动规律建模与3D仿真:http://www.youerw.com/jisuanji/lunwen_6616.html