| 四足变结构机器人的运动学分析 |
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| 引用本文： | 陈浩,丁希仑.四足变结构机器人的运动学分析[J].北京科技大学学报,2012(1):53-58. |
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| 作者姓名： | 陈浩 丁希仑 |
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| 作者单位： | 北京航空航天大学机器人研究所 |
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| 基金项目： | 国家基金重大国际合作项目(50720135503);教育部博士点基金资助项目(200800060009) |
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| 摘 要： | 对一种新型的四足变结构机器人进行了运动学分析.首先建模分析了单条腿的运动速度;然后综合考虑机器人车身本体的运动和变形以及四条腿的运动状态,对机器人整体进行了运动学分析,提出并建立了机器人的全局速度方程;最后将全局速度方程应用到机器人的速度分解控制中,使该控制方法的应用领域从串联机器人扩展到多足移动(串并混联)机器人,并以变结构四足机器人的车身原地收缩运动为例,验证了这种方法的可行性.
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| 关 键 词： | 四足机器人 变结构 运动学 速度控制 |
Kinematics analysis of a quadruped robot with variable structure |
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| CHEN Hao,DING Xi-lun.Kinematics analysis of a quadruped robot with variable structure[J].Journal of University of Science and Technology Beijing,2012(1):53-58. |
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| Authors: | CHEN Hao DING Xi-lun |
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| Institution: | Institute of Robotics,Beihang University,Beijing 100191,China |
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| Abstract: | A novel quadruped robot with variable structure was analyzed by kinematic methods.First,the velocity of a single leg was studied.Then the kinematics of the whole robot was discussed,and a globe velocity equation was proposed and established with considering the transformation and motion of the robot’s body and four legs.At last,the method of velocity decomposition control,which is usually used in the serial-chain manipulator control,was generalized to the legged mobile robot(serial and parallel hybrid mechanism) control through applying the globe velocity equation.The contraction of the robot’s body with four feet fixed on the ground was taken as an example to demonstrate the feasibility of this approach. |
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| Keywords: | quadruped robots variable structure kinematics velocity control |
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