四足机器人自由步态规划建模与算法实现

刘冠初; 熊静琪; 乔林; 杜丽

doi:10.7652/xjtuxb201506014

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四足机器人自由步态规划建模与算法实现

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- 四足机器人自由步态规划建模与算法实现
- Modelling and Algorithm Realization of Free Gait Regulation for Quadruped Robots
- 西安交通大学学报 2015年49卷第6期页码：84-89+144
- 作者机构：
  
  电子科技大学机械电子工程学院,成都,611731
- 作者简介：
- 基金信息：
  
  : 2014-08-09。作者简介: 刘冠初(1989—),男,硕士生;熊静琪(通信作者),女,教授。基金项目: 国家高技术研究发展计划资助项目(2011AA040701)
- DOI：10.7652/xjtuxb201506014
  中图分类号： TP24
- 网络首发：2015-06-10，
  
  纸质出版：2015
- 稿件说明：
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刘冠初, 熊静琪, 乔林, 等. 四足机器人自由步态规划建模与算法实现[J]. 西安交通大学学报, 2015,49(6):84-89+144.

Modelling and Algorithm Realization of Free Gait Regulation for Quadruped Robots[J]. 2015, 49(6): 84-89+144.
刘冠初, 熊静琪, 乔林, 等. 四足机器人自由步态规划建模与算法实现[J]. 西安交通大学学报, 2015,49(6):84-89+144. DOI： 10.7652/xjtuxb201506014.

Modelling and Algorithm Realization of Free Gait Regulation for Quadruped Robots[J]. 2015, 49(6): 84-89+144. DOI： 10.7652/xjtuxb201506014.

摘要

针对四足机器人的越障自由步态规划问题

提出了一种改进的离散化四足机器人步态规划模型

该模型可通过设置相关参数准确模拟实际物理模型

并且可以根据障碍物的分布密集程度改变候选落足点数以提高机器人对地形的适应能力; 根据此模型建立了基于A

算法的步态规划算法

对步态序列进行稳定性检测和碰撞检测

并设计了以步数最少为目标的评价函数

以使规划的步态稳定、与障碍无碰撞且总步数最少。实验结果表明:该算法计算量小、规划时间短

规划一个20步的越障步态仅拓展了78个节点

用时0.019 s; 机器人以最少的步数安全地通过了给定的含障碍物的地形

从而验证了所提模型的有效性及算法的优越性

ADAMS和Simulink联合仿真进一步验证了所规划的自由步态是可行的。

Abstract

A modified discrete gait planning model for quadruped robots is proposed to solve the free gait planning problem for quadruped robots walking beyond barriers. The model accurately simulates the actual physical model through setting related parameters; and the number of candidate footholds can be changed to improve the robot's adaptability according to the distribution density of obstacles. A gait planning algorithm based on the A

method is proposed. In this algorithm

the stability detection and collision detection are executed on every gait sequence

and an evaluation function aiming at minimum steps is designed to achieve collision-free and stable gait with minimum total steps. Experimental results show that the proposed algorithm is computationally efficient

and the

planning time is short. When a twenty-step collision-free gait is planned

only 78 nodes are expanded and the planning time is 0.019 s. The robot safely traverses through the obstacles of a given terrain with a minimum steps. These results verify the validity of the proposed model and the superiority of the algorithm. Moreover

a joint simulation with ADAMS and Simulink verifies the feasibility of the planned free gait.

关键词

Keywords

references

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