基于速度矢量的6足机器人三角间歇步态规划与分析

为提高大惯量6足机器人行走的稳定性与连续性，提出了基于速度矢量的三角间歇步态.该步态以三角间歇步态为基础，统一映射平动与转动速度矢量为绕旋转中心转动，达到6足机器人全方向行走且速度平滑切换的目的.首先，由旋转中心理论计算中心坐标，在足端工作空间约束下计算最大旋转速度；其次，对摆动相采用足端0冲击摆线轨迹规划，支撑相采用增量式轨迹规划以便于编程计算连续运动指令实现变速度矢量运动；最后，在虚拟样机和物理模型上进行不同步态的对比实验.结果表明采用基于速度矢量的三角间歇步态晃动幅度与方差最小，提出的方法可保证大惯量6足机器人连续稳定的全方位运动. 

Velocity Vector Based Triangular Intermittent Gait Planning and Analysis for Hexapod Robot

In order to improve the stability and continuity of walking of the large-inertia hexapod robot,a triangular intermittent gait was proposed based on the velocity vector. Based on the triangular intermittent gait,mapping the translation uniformly,and taking the rotation speed vectors as the turning around center of rotation,the gait was designed to make the hexapod robot walk all-round stably and its speed switch smoothly. Firstly,the coordinate of the rotation center was calculated accoeding to the turning centre theory,and the maximun rotation speed was calculated under the constraints of the workspace of foot. Then,the trajectory planning of the swing phase was arranged with the end-to-end zero-impact cycloid,and an incremental trajectory planning method was used for the support phase to facilitate the calculation of continuous motion instructions and to achieve the variable-speed vector motion. Finally,the comparison experiments were performed on the virtual prototype and the physical model respectively. The results show that the triangular intermittent gait based on the velocity vector possesses the smallest amplitude and the smallest variance,and the proposed method can guarantee the continuous and stable all-around movement of the large-inertia hexapod robot.