[1]陈 耀,周建军,胡 涛.单自由度腿部机构的四足机器人稳定性研究[J].机械与电子,2015,(02):65-69.
　CHEN Yao,ZHOU Jianjun,HU Tao.Stability Analysis of a 1-DOF Leg for Quadruped Robot[J].Machinery & Electronics,2015,(02):65-69.
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单自由度腿部机构的四足机器人稳定性研究
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年02期
页码:
65-69
栏目:
智能工程
出版日期:
2015-02-25

文章信息/Info

Title:
Stability Analysis of a 1-DOF Leg for Quadruped Robot
文章编号:
1001-2257(2015)02-0065-05
作者:
陈 耀; 周建军; 胡 涛
(杭州电子科技大学机械电子工程研究所,浙江 杭州 310018)
Author(s):
CHEN Yao; ZHOU Jianjun; HU Tao
(Institute of Mechatronic Engineering,Hangzhou Dianzi University,Hangzhou 310018,China)
关键词:
切比雪夫连杆机构;  单自由度;  四足机器人;  稳定判据
Keywords:
Chebyshev's linkage;  1-DOF;  quadruped robot;  stability criterion
分类号:
TP242
文献标志码:
A
摘要:
以基于切比雪夫连杆腿部机构的四足机器人为原型,建立了其足端的运动轨迹方程,并推导出速度方程; 分别从静态及动态两种步态对单自由度四足机器人的稳定性进行研究,给出了各种步态下保持平衡行进的稳定判据; 并通过Adams仿真进行了验证。
Abstract:
Inspired by the Chebyshev's linkage,this paper constructs a quadruped robot consists of four 1-Degree-of-Freedom(1-DOF)legs.A Kinematic analysis has been carried out in order to evaluate the position and velocity of each foot,then analyze both static stable walking gait and dynamic gait,and discuss the impacts of different gait on stability margin.A stability criterion equation has given for each gait,and a simulation of Adams illustrated the proposed result.

参考文献/References:

[1] 夏任司.四足机器人步态与路径规划[D].武汉:华中科技大学,2013.
[2] Cristina Tavolieri,et al.Analysis and design of a 1-DOF leg for walking machines[J].University of Cassino.2013. 32(8): 932-950.
[3] Liang,C,et al.Design and operation of a tripod walking robot via dynamics simulation[J].Robotica,2011,29(05):733-743.
[4] 贾林.四足仿生机器人对角步态控制研究[D].成都:电子科技大学,2013.
[5] 刘蕊,俞志伟.仿生四足机器人对角步态规划及稳定性分析[J].科学技术与工程,2013(36):10852-10856.
[6] Grande S,Ottaviano E.A biped walking mechanism for a rickshaw robot[J].Mechanics Based Design of Structures and Machines,2010(38):227-242.
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备注/Memo

备注/Memo:
收稿日期:2014-09-18
作者简介:陈耀(1990- ),男,山东泰安人,硕士研究生,研究方向为机器人步态控制; 周建军(1957- ),男,浙江嘉兴人,教授,研究方向为机器人机构学; 胡 涛(1991- ),男,浙江金华人,硕士研究生,研究方向为机器人柔顺驱动。
更新日期/Last Update: 2015-02-25