四足机器人坡面质心调整方法

为了实现稳定的坡面运动，设计了小腿采用液压缸的四足机器人.基于对角小跑步态，提出一种通过改变机器人前腿小腿腿长和保持后腿小腿腿长不变来实现坡面质心调整的方法.以机器人质心在斜面的投影点落在支撑对角线交点处为判据，对该质心调整方法进行了稳定性分析，得到姿态调整的确定值.对零冲击复合摆线足端轨迹规划方法进行了改进，以减少四足机器人坡面上的足地接触冲击.利用Adams和Matlab对四足机器人坡面trot步态运动进行了联合仿真.仿真结果表明所提出的质心调整方法和足端轨迹规划方法能够实现机器人在20°坡面上的稳定行走. 

Mass Center Adjustment Method of Quadruped Robot Moving on Slopes

In order to implement stable movement on slopes,the shins of quadruped robot were designed to use the hydraulic cylinder in this paper. A mass center adjustment method of quadruped robot was proposed based on trot gait,implemented by decreasing the length of the front shins and keeping the length of the rear shins no change.Firstly,the robot stability was judged according to the superposition degree between the projection point of the mass center and the cross point of the supporting diagonals,and the definite relationship of attitude adjustment was got.Then,a planning method of foot trajectory of no-impact complex cycloid was improved to reduce the contact impact of robot moving on slopes.Finally,the robot moving on slopes in trot gait was simulated by using Adams and Matlab.The simulation results show that,the robot can move steadily on 20°slope with trot gait by using the proposed method of mass center adjustment and the planning method of foot trajectory.