变拓扑六重四面体机器人步态规划与仿真

变拓扑多面体机器人是一个多闭链多耦合的连杆机构,现有的变拓扑多面体机器人的步态规划仅仅是根据几何关系来计算,没有考虑运动方向改变和实时计算连杆变化量的复杂性。针对上述问题,提出将变拓扑六重四面体机器人的步态规划与中枢模式发生器(central patten generator,CPG)相结合,其运动方向由有限状态机确定,即确定连杆运动的次序;而CPG网络产生的信号直接驱动变拓扑六重四面体机器人的连杆运动。利用ADAMS进行仿真,实验结果表明利用算法变拓扑六重四面体机器人能根据CPG输出的信号实现翻滚运动。

Gait Design and simulation of a 6-Tetrahedron Robot

The Variable Tetrahedron Robot is a coupling Linkage Mechanism with many closed chains, the existing gaits planning of which is calculated just according to its geometry relationship, it did not consider the direction of movement and the complexity of calculation. In this paper, the gait design of a 6-Tetrahedron Robot combining Central pattern Generator and geometry calculation is proposed. The direction of movement is determined by Finite State Machine, which defines the movement order of the connecting rod, and the signals generated by the CPG network drive the connecting rod. The simulation results from ADAMS show that thisSmethod can make the 6-Tetradron robot realize the rolling motion according to the output signals of CPG.