四足机器人稳定高效行进的多步态运动策略

doi:10.16182/j.issn1004731x.joss.24-0917

摘要/Abstract

摘要：

受四足动物自然步态转换机制的启发，针对运动能效与运动稳定之间的权衡问题，提出了一种多步态行进的运动策略，用以实现四足机器人在多地形场景下的稳定高效运动。根据占空比和相位偏移等参数定义步态，形成切换基础；通过设计有限状态机并引入参数的仿射变换来建立切换机制，实现了不同步态间的及时切换；基于运输成本CoT（cost of transport）和稳定性指标设计了速度-步态映射表，实现了运动步态的合理选择；结合步态选择策略与步态切换机制实现了变化地形上的步态实时选择与切换。仿真结果与实物实验均表明，所提出的多步态策略能够实现不同地形下四足机器人的高效稳定运动。

关键词: 四足机器人, 运动策略, 运输成本, 步态切换, 步态选择

Abstract:

Inspired by the natural gait transition mechanism of quadruped animals, a multi-gait motion strategy is proposed to realize the stable and efficient motion of quadruped robots on different terrains in response to the trade-off between motion energy efficiency and motion stability. The gait is defined based on the duty cycle parameters and phase bias to form the switching basis. Secondly, the affine transformation of gait parameters and the finite state machine are introduced to establish the switching sequence, which realizes the timely gait switching. The speed-gait mapping is designed based on the cost of transport (CoT) and the stability index, which determines the suitable gait selection under different terrains. The gait selection strategy and transition mechanism are combined to realize the real-time selection and switching of the multi-terrain gait under different speeds. Both the simulated and experimental results show that the proposed multi-gait strategy can realize the efficient and stable motion of the quadruped robot under different terrains.

Key words: quadruped robot, motion strategy, cost of transport, gait selection, gait transition

中图分类号:

TP242

张道勋,陈谢沅澧,钟铮语等 . 四足机器人稳定高效行进的多步态运动策略[J]. 系统仿真学报, 2025, 37(1): 13-24.

Zhang Daoxun,Chen Xieyuanli,Zhong Zhengyu,et al . Novel Multi-gait Strategy for Stable and Efficient Quadruped Robot Locomotion[J]. Journal of System Simulation, 2025, 37(1): 13-24.

图/表 17

图1

图2

图3

表1

步态切换事件

States	Events
States	E₀	E₁	E₂	E₃	E₄
Walk	$a 00$	$a 01$	$a 01, a 12$	$a 01, a 12, a 23$	$a 01, a 14$
Trot	$a 10$	$a 11$	$a 12$	$a 12, a 23$	$a 14$
Bound	$a 21, a 10$	$a 21$	$a 22$	$a 23$	$a 21, a 14$
Bound-run	$a 32, a 21, a 10$	$a 32, a 21$	$a 32$	$a 33$	$a 32, a 21, a 14$
Trot-run	$a 41, a 10$	$a 41$	$a 41, a 12$	$a 41, a 12, a 23$	$a 44$

表1

图4

图5

图6

图7

表2

仿真测试中的所有参数

参数名	数值	参数名	数值
仿真步长dt/s	0.002	N	5
切换时间T_s/s	0.5	迈步周期 $t f$ /s	0.5
运动速度v/(m/s)	0.3~2.7	权衡参数c	0.1~0.9

表2

图8

图9

图10

表3

图11

图12

图13

图14

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运动策略	CoT	STB	成功率
固定步态Trot	0.383	0.145	29/30
固定步态Trot-run	0.532	0.512	23/30
文献[22]策略	0.331	0.320	29/30
策略c1	0.299	0.355	29/30
策略c3	0.316	0.283	29/30
策略c5	0.330	0.118	30/30
策略c7	0.340	0.117	30/30
策略c9	0.344	0.109	30/30

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