基于伸展步态的四足机器人小跑步态仿真

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014) Pub Date : 2014-12-18 DOI:10.1109/ICCAS.2014.6987942

Chang-Hoi Kim, Hocheol Shin, Kyungmin Jeong

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引用次数: 3

摘要

蜥蜴的身体薄而灵活，可以很容易地穿过狭窄的小路。它们伸展的步态增加了它们的稳定性，使它们能够克服障碍和崎岖的地形。因此，蜥蜴仿生机器人适用于侦察和探测。通过对蜥蜴的每个环节进行称重，并利用微ct扫描构建其三维形状，对蜥蜴进行动态建模。我们制定了一种能够描述蜥蜴步态的周期性伸展步态。此外，我们通过改变伸展步态的步态参数来生成直立步态。利用商用动力学分析软件对动态蜥蜴模型进行了不同步态参数下的伸展和直立步态仿真。通过仿真得到了稳定小跑的稳定步态参数。

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Trot gait simulation of four legged robot based on a sprawled gait

Lizards with a thin and flexible body can easily pass through a narrow path. Their sprawled gait increases their stability and allows them to overcome obstacles and rough terrain. Therefore, lizard bio-mimetic robots are suitable for reconnaissance and detection. The dynamic modeling of a lizard was carried out by weighing each link of a lizard and constructing its 3D shape using micro-CT scanning. We formulated a periodic sprawled gait which is able to describe the gait of lizards. In addition, we generated an upright gait by altering the gait parameters of the sprawled gait. The sprawled and upright gaits of the dynamic lizard model were simulated with various gait parameters using commercial dynamic analyzing software. The stable gait parameters for the stable trotting were obtained through the simulation.

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2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)

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