具有柔性脊椎的四足机器人奔跑运动分析

为了提高四足机器人的奔跑性能，设计了一种具有柔性脊椎的四足机器人.该柔性脊椎由两个平行橡胶棒和一个驱动液压缸组成，通过控制驱动液压缸的伸缩可使两个平行橡胶棒实现上下弯曲.分析了该四足机器人的柔性脊椎对奔跑步长的影响.基于Hopf模型的CPG控制方法，推导了髋关节和膝关节的关节驱动曲线幅值的表达式，并通过网络拓扑结构的重建将脊椎驱动信号与各腿部关节驱动信号进行耦合.最后利用Adams和MATLAB/Simulink对四足机器人进行了bound步态仿真，仿真表明具有柔性脊椎的四足机器人奔跑性能显著提高.

Running Analysis of Quadruped Robot with Flexible Spine

In order to improve the running performance of quadruped robot， a quadruped robot with flexible spine was designed. The flexible spine was composed of two parallel rubber rods and a driving hydraulic cylinder. By controlling the expansion and contraction of the driving hydraulic cylinder， the two parallel rubber rods can be bent up and down. The influence of the flexible spine of the quadruped robot on step length was analyzed. Based on a CPG control method of the Hopf model， the expressions of the amplitude of the joint drive curve of the hip joint and the knee joint were derived. Meanwhile， through the reconstruction of the network topology， the spine drive signal was coupled with the joint drive signal of each leg.Finally， the bound gait simulation of the quadruped robot was done by using the Adams and MATLAB/Simulink softwares. The simulation results show that the running performance of the quadruped robot with flexible spine is obviously improved.