摘要
在对六足步行机运动学分析的基础上,为了改善步行机的起落特性及步行稳定性,进行了平地无障碍足端轨迹规划。使用摆线函数分别产生足的水平和垂直方向的运动轨迹,用修正摆线函数使其加速度进一步平滑、连续,对各关节的运动轨迹和关节驱动力矩进行了仿真。
To improve the rising-falling character and the walking stability of the hexapod robot, on the basis of its kinematics analysis, this paper presents its foot trajectory planning on the flat ground without obstacles. The cycloid function is used to generate the horizontal and vertical foot trajectory respectively, and a modified cycloid function is used to make the acceleration curve of the joints more smooth and successive, the trajectory and drive moment of each joint is calculated by simulation.
出处
《机械设计与研究》
CSCD
北大核心
2006年第4期42-45,共4页
Machine Design And Research
关键词
六足步行机
轨迹规划
仿真
hexapod robot
trajectory planning
simulation
