摘要
四足机器人在开始运动时,初始的姿态往往不能达到期望的状态。通过分析四足机器人模型的结构,建立适当的坐标系,通过姿态欧拉角的变换以及逆运动学解算,得到出期望关节转角。基于Simulink与Adams建立位姿调整控制模型,给定目标姿态,通过联合仿真,结果表明:该位姿调整算法可以实现四足机器人位姿的调整。
When the quadruped robot starts to move,its initial posture often fails to achieve the desired state.Through the analysis of the structure of the quadruped robot model and the establishment of a proper coordinate system,the desired joint rotation angle is obtained through the transformation of the attitude Euler angle and the inverse kinematics. Based on Simulink and Adams,the posture adjustment control model is established. The result shows that the pose adjustment algorithm can adjust the position and pose of four legged robots.
引文
[1]张国腾,荣学文,李贻斌,等.基于虚拟模型的四足机器人对角小跑步态控制方法[J].机器人,2016,38(1):64-74.
[2]陈刚.六足步行机器人位姿控制及步态规划研究[D].杭州:浙江大学,2014.