一种负载型四足步行平台复杂地形静步态行走位姿调整方法

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英文篇名：Walking Attitude Adjustment Method of Loaded Quadruped Walking Vehicle in Rough Terrain with Static Gait 作者：晁智强 ; 谭永营 ; 王飞 ; 宁初明 英文作者：CHAO Zhi-qiang;TAN Yong-ying;WANG Fei;NING Chu-ming;Vehicle Engineering Department,Army Academy of Armored Forces;Troop No.66366 of PLA;Academy of System Engineering,Academy of Military Sciences; 关键词：四足步行平台 ; 复杂地形 ; 静步态 ; 位姿调整 英文关键词：quadruped walking vehicle;;rough terrain;;static gait;;attitude adjustment 中文刊名：ZJBX 英文刊名：Journal of Academy of Armored Force Engineering 机构：陆军装甲兵学院车辆工程系;66366部队;军事科学院系统工程研究院; 出版日期：2019-02-15 出版单位：装甲兵工程学院学报 年：2019 期：v.33;No.141 基金：国家自然科学基金资助项目(51305457) 语种：中文; 页：ZJBX201901011 页数：7 CN：01 ISSN：11-3984/E 分类号：67-73

摘要

针对负载型四足步行平台位姿调整方法研究的不足,对其姿态调整过程及目标姿态角选择进行了研究。首先,在步行平台运动学及足端活动空间分析的基础上,利用支撑腿形成的支撑平面对地形进行感知,结合步态参数三角形及下一摆动腿的运动学裕度得到平台期望位姿及摆动腿起步点位置;然后,将步行平台位姿调整过程分为减速、调整及重新规划3个阶段,结合边界条件对各阶段机体轨迹进行规划;最后,对步行平台复杂地形静步态行走进行了仿真。结果表明:步行平台行走过程中依据地形特征不断调整姿态,平稳通过了复杂地形,验证了所提位姿调整方法的合理性。
        In view of the shortcomings of the research on the attitude adjustment method of the loaded quadruped walking vehicle,the attitude adjustment process and the target attitude angle selection are studied. Firstly,based on the analysis of the kinematics of the vehicle and the foot-end workspace,the terrain is sensed by the supporting plane formed by supporting legs,and the desired attitude of the vehicle and the starting point of the swinging leg are obtained by combining the gait parameters triangle and the kinematics margin of the next swing leg. Then the adjustment process of vehicle's attitude is divided into three stages: deceleration,adjustment and re-planning. The body trajectory of each stage is planned according to the boundary conditions. At last,simulation is carried out for vehicle with static gait walking on the rough terrain. The results show that the attitude of walking vehicle is adjusted continuously according to the terrain characteristics,and the vehicle passes through the rough terrain smoothly,which proves the rationality of the proposed method.

引文

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