Kinematic modeling and trotting gait planning for the quadruped robot with an active spine

被引：2
|
作者：
Wei Z. [1 ,2 ,3 ]
Song G. [1 ,2 ,3 ]
Sun H. [1 ,2 ,3 ]
Qiao G. [1 ,2 ,3 ,4 ]
Qi Q. [1 ,2 ,3 ]
He M. [1 ,2 ,3 ]
Song A. [1 ,2 ,3 ]
机构：
[1] School of Instrument Science and Engineering, Southeast University, Nanjing
[2] State Key Laboratory of Bioelectronics, Southeast University, Nanjing
[3] Jiangsu Key Lab of Remote Measurement and Control, Southeast University, Nanjing
[4] School of Automation, Nanjing Institute of Technology, Nanjing
来源：
Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) | 2019年 / 49卷 / 06期
关键词：
Coordinated motion of spine and legs; Gait planning; Kinematic modeling; Quadruped robot; Trot;
D O I：
10.3969/j.issn.1001-0505.2019.06.001
中图分类号：
学科分类号：
摘要：
To solve the unbalance problem caused by the moment around the diagonal supporting axis for the quadruped robot in the trotting gait, based on the kinematic modeling and the analysis of the unbalance reason, two novel methods for trotting gait planning are proposed including trotting gait combined with the abduction and adduction of legs and trotting gait combined with the spine motion in the yaw direction. The former introduces the abduction and adduction of legs to adjust the foot trajectories of the supporting legs. The latter augments the spine motion in the yaw direction to regulate the center of gravity of the robot while the foot trajectories remain unchanged. The two methods both make the center of gravity of the robot locate on the diagonal supporting axis in the whole trotting gait. The simulation results show that compared with the common trotting gait and the trotting gait with the foot trajectory moving backward, the proposed trotting gaits can greatly improve the locomotion stability of the robot. In addition, the robustness of the proposed gaits is verified when deviations of the model parameters exist. © 2019, Editorial Department of Journal of Southeast University. All right reserved.
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页码：1019 / 1025
页数：6
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