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为保证大负重四足机器人的全方位稳定行走,提出了基于速度矢量的间歇步态规划方法,采用间歇步态作为主步态,将平动与转动速度矢量映射为绕旋转中心转动.首先,采用旋转中心理论得到旋转中心坐标,根据足端工作空间计算最大旋转速度.其次,以稳定裕度为约束条件,对支撑相起始位置进行设计,同时为了满足零冲击条件,采用改进的复合摆线方法对摆动相轨迹进行规划.然后,提出增量式的轨迹规划方法,便于编程实现连续的支撑相运动指令,并进行稳定裕度、连续性、移动速度以及工作空间的需求分析,提出相应的参数设计方法.最后,分别采用虚拟样机和物理样机对3种步态进行对比实验,结果表明当α=0.5时其步态的晃动量最少且方差最小,该方法能够保证大负重四足机器人实现连续的全方位运动轨迹,并且具有较好的稳定性.
In order to ensure the full-scale stable walking of large-load quadruped robots, an intermittent gait planning method based on velocity vector is proposed, in which the intermittent gait is used as the main gait and the translational and rotational vectors are mapped to revolve around the rotation center.Firstly, The center of rotation is obtained by the theory of rotation center and the maximum rotation speed is calculated according to the working space of the foot.Secondly, the starting position of the supporting phase is designed with the constraint of the stability margin, and at the same time, the improved composite pendulum Line method to plan the trajectory of the wobble.Furthermore, an incremental trajectory planning method is proposed to facilitate the programming of continuous support phase motion commands, and the stability margin, continuity, moving speed and the demand of the workspace are analyzed, Finally, using the virtual prototype and the physical prototype to compare the three kinds of gait, the results show that when α = 0.5, the gait has the least amount of shaking and the least variance, which can ensure the large-load quadruped robot Achieve continuous all-round motion trajectory, and has good stability.