基于全局轨迹的六足机器人运动规划算法

系统仿真学报 ›› 2015, Vol. 27 ›› Issue (11): 2682-2688.

• 仿真建模与仿真算法及数值仿真 • 上一篇下一篇

基于全局轨迹的六足机器人运动规划算法

郭祖华, 王申江, 赵士杰

北京航空航天大学宇航学院,北京 100191

收稿日期:2014-05-03 修回日期:2015-03-30 出版日期:2015-11-08 发布日期:2020-08-05
作者简介:郭祖华(1971-),男,湖北当阳,博士,副教授,研究方向为动力学系统的仿真与控制、飞行器设计、足式移动机器人控制;王申江(1989-),男,江苏,硕士生,研究方向为仿人机器人;赵士杰(1988-),河北,硕士生,研究方向为足式行走机器人。

Motion Planning Algorithm Based on Overall Trajectory for Locomotion of 6-legged Robot

Guo Zuhua, Wang Shenjiang, Zhao Shijie

School of Aeronautics, Beihang University, Beijing 100191, China

Received:2014-05-03 Revised:2015-03-30 Online:2015-11-08 Published:2020-08-05

摘要/Abstract

摘要： 为解决基于步态的规划方法难以适应复杂自然地形的问题,一种基于全局轨迹的规划算法被提出。机器人实现机动的基本运动单元是一次迈步,算法沿着运动轨迹估计下一步所能到达的位置,规划在当前位置和目的位置间机器人各关节的轨迹。在算法中机器人的一次迈步动作被分解成支撑腿移动身体和迈步腿向前摆动2个部分,采用抛物线参数曲线来描述迈步过程中机器人质心和摆动足的运动轨迹,从而避免了传统方法中迈步轨迹与参考坐标系相关的问题,便于实现在线规划。最后在文中给出了具体运动规划算法,并通过了仿真验证。

关键词: 六足机器人, 运动规划, 运动学, 仿真

Abstract: A traditional motion planning method based on gaits is difficult to adopt to complicate nature terrain. In order to solve the problem, a planning algorithm based on overall trajectory was proposed. The basic unit of robot maneuver was a walking step. The proposed method was to estimate position of robot in the next moment along a given overall trajectory, and then to plan the joints’ trajectory of robot. In this algorithm, the motion of a single step was decomposed into two parts, the motion of moving robot body with support of legs and the motion of swinging legs forward, which performed in same time. A parametric parabola was used to describe the trajectory of the motions to avoid the problem that trajectories depended on a reference coordinate system in traditional method. It is convenient to realize online trajectory planning. A detail motion planning algorithm was discussed and proved by a simulation.

Key words: 6-legged robot, motion planning, kinematics, simulation

中图分类号:

TP242.6

郭祖华, 王申江, 赵士杰. 基于全局轨迹的六足机器人运动规划算法[J]. 系统仿真学报, 2015, 27(11): 2682-2688.

Guo Zuhua, Wang Shenjiang, Zhao Shijie. Motion Planning Algorithm Based on Overall Trajectory for Locomotion of 6-legged Robot[J]. Journal of System Simulation, 2015, 27(11): 2682-2688.

参考文献

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基于全局轨迹的六足机器人运动规划算法

Motion Planning Algorithm Based on Overall Trajectory for Locomotion of 6-legged Robot

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