CAJ | 학술논문

传统的四足机器人对角小跑步态一般在机体坐标系中进行规划，在实际应用中存在着摆动腿无法同时着地、机体翻转无法有效抑制等问题，这些都降低了机器人运动的稳定性和精确性。针对以上问题，提出了一种在世界坐标系下规划的改进型对角小跑步态方法，该方法通过浮动机体运动学对摆动相进行规划，在足端的雅可比矩阵中引入机体姿态相关项，从而保证了摆动腿能同时着地，同时在支撑相和摆动相之间增加了四腿同时着地的调整相，对机器人机体位姿进行调整。对比仿真和样机试验结果表明：与传统方法相比，所提方法能够使摆动腿同时着地并能连续调整机体位姿，使机器人获得更好的运动稳定性和更高的位移控制精度。
전통적사족궤기인대각소포보태일반재궤체좌표계중진행규화，재실제응용중존재착파동퇴무법동시착지、궤체번전무법유효억제등문제，저사도강저료궤기인운동적은정성화정학성。침대이상문제，제출료일충재세계좌표계하규화적개진형대각소포보태방법，해방법통과부동궤체운동학대파동상진행규화，재족단적아가비구진중인입궤체자태상관항，종이보증료파동퇴능동시착지，동시재지탱상화파동상지간증가료사퇴동시착지적조정상，대궤기인궤체위자진행조정。대비방진화양궤시험결과표명：여전통방법상비，소제방법능구사파동퇴동시착지병능련속조정궤체위자，사궤기인획득경호적운동은정성화경고적위이공제정도。
The classical trot gait for quadruped robot was planned in the body coordinate of robot, and there exist some problems which might decrease the stability and accuracy of the locomotion in practical applications.For example,the swing legs could not land the ground simultaneously,and the rolling-over of the body could not be suppressed effectively.To overcome the problems,an improved trot gait for quadruped robot which was considered in the world coordinate was proposed herein.The swing phase was planned via kinematics with floating base,and the term related to the body’s posi-tion and attitude was introduced in the foot’s Jacobian matrix to ensure the swing legs could land the ground simultaneously.The adjustment phase was introduced between the support phase and swing phase when the four legs got in touch with ground.The body’posture might be adjusted in the ad-justment phase.Finally,the results of simulation and prototype experiments show that,the proposed method can improve the stability and accuracy of the robot’s locomotion.