Path Planning for Spider Biomimetic Robot Leg based on Cubic Polynomial Interpolation Function with Midpoints

Luo Tianhong; Ma Li

doi:10.16578/j.issn.1004.2539.2017.07.001

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Path Planning for Spider Biomimetic Robot Leg based on Cubic Polynomial Interpolation Function with Midpoints

更新时间：2022-10-20

- Path Planning for Spider Biomimetic Robot Leg based on Cubic Polynomial Interpolation Function with Midpoints
- Vol. 41, Issue 7, Pages: 1-6(2017)
- 作者机构：
  
  1. 重庆交通大学机电与车辆工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2017.07.001
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[1]罗天洪,马力.基于过路径点的三次多项式插值函数的仿蜘蛛机器人足路径规划[J].机械传动,2017,41(07):1-6.

Luo Tianhong, Ma Li. Path Planning for Spider Biomimetic Robot Leg based on Cubic Polynomial Interpolation Function with Midpoints. [J]. 41(7):1-6(2017)
[1]罗天洪,马力.基于过路径点的三次多项式插值函数的仿蜘蛛机器人足路径规划[J].机械传动,2017,41(07):1-6. DOI： 10.16578/j.issn.1004.2539.2017.07.001.

Luo Tianhong, Ma Li. Path Planning for Spider Biomimetic Robot Leg based on Cubic Polynomial Interpolation Function with Midpoints. [J]. 41(7):1-6(2017) DOI： 10.16578/j.issn.1004.2539.2017.07.001.

摘要

针对复杂隧道环境中机器人的避障问题,提出使用过路径点的三次多项式插值算法对机器人足运动路径进行规划。设计了一个能在隧道空间灵活运动的18关节六足仿蜘蛛机器人,运用D-H建模方法对仿蜘蛛机器人足进行运动学建模,并推导了逆运动学方程式,基于蒙特卡洛法对足端可达空间进行仿真分析,并基于过路径点的三次多项式插值算法对机器人足避障轨迹进行路径规划仿真。仿真结果表明,在仿蜘蛛机器人足路径规划中应用过路径点的三次多项式插值方法能保证步行足运动动作的平滑性,从而避免了因力矩突变引起的冲击作用,同时足端能通过路径点以满足避障要求。

Abstract

The cubic polynomial interpolation with midpoints is applied to the path planning of robot leg in the complex tunnel environment. A new spider biomimetic robot with 18 joints and 6 legs is designed,which can be flexible movement in tunnel space. The kinematics model of the robot leg is built with D-H modeling method,and the inverse kinematics equation is deduced. Based on Monte-Carlo method,the working space of the foot end is analyzed,and based on the cubic polynomial interpolation algorithm with midpoints for path planning of obstacle avoidance is simulated. Simulation results show that the application of the cubic polynomial interpolation method with midpoints in path planning on spider biomimetic robot leg could guarantee the smoothness of foot movements,avoid the impact caused by mutations of moment,and meet the requirements of obstacle avoidance.

关键词

蜘蛛六足机器人D-H建模过路径点的三次多项式插值路径规划

Keywords

Spider biomimetic hexapod robotD-H modelingCubic polynomial interpolation with midpointsPath planning

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