| 四足步行机器人动力学模型及脚力分配的研究 |
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| 引用本文： | 王新杰,李培根,陈学东,陈宏娟.四足步行机器人动力学模型及脚力分配的研究[J].华中科技大学学报(自然科学版),2005,33(12):12-15. |
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| 作者姓名： | 王新杰 李培根 陈学东 陈宏娟 |
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| 作者单位： | 华中科技大学,机械科学与工程学院,湖北,武汉,430074 |
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| 基金项目： | 国家自然科学基金资助项目（60375034）. |
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| 摘 要： | 推导了四足步行机器人的动力学模型，在此基础上利用平方规划方法研究开发四足步行机器人脚力分配的新算法．这种方法既考虑电机模型，分析了四足步行机器人的关节驱动约束条件，又结合摩擦等约束分析及转换，建立了机器人多约束方程，利用平方规划提高解的质量，并缩减解的规模．最后通过实例验证了该算法的优越性。
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| 关 键 词： | 四足机器人 力规划 二次规划 关节驱动约束 |
| 文章编号： | 1671-4512（2005）12-0012-04 |
| 收稿时间： | 2005-04-21 |
| 修稿时间： | 2005年4月21日 |
Dynamic model of quadruped robots and its force distribution |
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| Wang Xinjie,Li Peigen,Chen Xuedong,Chen Hongjuan.Dynamic model of quadruped robots and its force distribution[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2005,33(12):12-15. |
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| Authors: | Wang Xinjie Li Peigen Chen Xuedong Chen Hongjuan |
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| Abstract: | The dynamic model for quadruped robots was derived. On the basis of the derivation, the new algorithm for force distribution of quadruped robots was established by quadratic programming. The electric engine model was considered, and the constraints of the joint-drive of quadruped robots were analyzed. The constraint equation for the robots was established by combining the constraints analysis of friction and its transformation, etc. The solution was improved qualitatively and the scale of the solution reduced by quadratic programming. The superiority of the algorithm was verified by examples. |
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| Keywords: | quadruped robot force programming quadratic programming joint-drive constraints |
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