文献类型：期刊文献

中文题名：四足仿生机器人仿生足端轨迹规划研究

英文题名：Research on bionic foot-end trajectory planning for bionic quadruped robot

作者：马慧姝[1];刘艳霞[2];方建军[2];罗大为[1]

第一作者：马慧姝

机构：[1]北京联合大学,北京市信息服务工程重点实验室,北京100101;[2]北京联合大学城市轨道交通与物流学院,北京100101

第一机构：北京联合大学北京市信息服务工程重点实验室

年份：2019

卷号：51

期号：3

起止页码：66-71

中文期刊名：东北师大学报：自然科学版

收录：CSTPCD;;北大核心:【北大核心2017】；

基金：国家自然科学基金资助项目(61602041);北京市高等学校高层次人才引进与培养计划项目(CITTCD20150314);北京联合大学人才强校优选计划项目(BPHR2017CZ07)

语种：中文

中文关键词：四足机器人;仿生;足端轨迹规划;曲线拟合;三次B样条

外文关键词：quadruped robot;bionic;gait planning;curve fitting;cubic B-spline

摘要：基于自主设计的电驱四足仿生机器人实物本体,借鉴仿生学思想,提出一种基于哺乳动物运动轨迹的仿生步态策略来规划四足机器人足端轨迹.该方法首先利用视频分析技术提取四足哺乳动物大型犬在平坦地面以Trot步态行走时的骨骼三维数据,将获取的数据建立足端点坐标系;然后利用三次曲线拟合方法生成轨迹线,获得拟合度高、稳定性强、更加接近四足哺乳动物的实际运动状态的足端轨迹方程;最后通过Matlab软件进行仿真.实验结果表明,基于仿生步态策略驱动控制下,电驱四足仿生机器人行走过程连续平稳,足端轨迹平滑,仿生度高,比传统函数轨迹规划方法具有更好的性能,证明了该足端轨迹规划方法的合理性和有效性.
This paper is based on the self-designed quadruped bionic robot's physical body,and draws on the bionics idea, proposes a bionic gait strategy based on mammalian motion trajectory to plan the quadruped robot foot trajectory. Firstly, the method uses video analysis technology to extract the coordinates of the foot position of a large quadrupedal mammal when walking on flat ground with Trot gait;Then use the cubic curve fitting method to generate the trajectory, and obtain the foot-terrain trajectory equation with high fitting degree,strong stability and closer to the actual movement state of quadrupedal mammals;Finally, the simulation results of Matlab software show that the quadruped bionic robot based on the bionic gait strategy drives continuously and smoothly,the foot trajectory is smooth,the bionic degree is high, and it has better performance than the traditional function trajectory planning method. Prove the rationality and effectiveness of the foot trajectory planning method.