Research on Gait Planning of Quadruped Robot in Straight and Turning

Dan Wang; Deke Zhou; Jiaqi Yang

doi:10.16578/j.issn.1004.2539.2021.09.007

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Research on Gait Planning of Quadruped Robot in Straight and Turning

Theory·Reserach | 更新时间：2022-11-10

- Research on Gait Planning of Quadruped Robot in Straight and Turning
- Journal of Mechanical Transmission Vol. 45, Issue 9, Pages: 47-55(2021)
- 作者机构：
  
  1.沈阳建筑大学机械工程学院，辽宁沈阳 110168
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.09.007
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王丹,周德科,杨家琪.四足机器人在直行和转弯下的步态规划研究[J].机械传动,2021,45(09):47-55.

Wang Dan,Zhou Deke,Yang Jiaqi.Research on Gait Planning of Quadruped Robot in Straight and Turning[J].Journal of Mechanical Transmission,2021,45(09):47-55.
王丹,周德科,杨家琪.四足机器人在直行和转弯下的步态规划研究[J].机械传动,2021,45(09):47-55. DOI： 10.16578/j.issn.1004.2539.2021.09.007.

Wang Dan,Zhou Deke,Yang Jiaqi.Research on Gait Planning of Quadruped Robot in Straight and Turning[J].Journal of Mechanical Transmission,2021,45(09):47-55. DOI： 10.16578/j.issn.1004.2539.2021.09.007.

摘要

针对四足机器人的直行和转弯运动，以爬行步态为基础，分别对其进行了步态规划。提出了协调旋转步态的概念并用于原地转弯中；找出直行步态与原地转弯步态的足端轨迹公共点，通过该点实现了步态的快速迁移并用于四足机器人的弯道转弯运动中；根据对四足机器人的结构设计，建立了四足机器人的虚拟样机；提出了一种新的评价准则——角度余量准则（SA准则），对规划的步态进行稳定性评价，从而找出最优步态。搭建实验平台进行了实验，结果显示，针对直行和转弯的步态规划合理、可行。

Abstract

Aiming at the straight and turning movements of quadruped robots， the gait based on the crawling gait is separately planned. The concept of coordinated rotating gait is proposed and used it in in-situ turning. The common point of the foot trajectory of the straight gait and the turning gait on the spot is found， and then this point is used to realize the rapid migration of the gait and use it in the turning motion of the quadruped robot. According to the structure design of the quadruped robot in the early stage， a virtual prototype of a quadruped robot is established. A new evaluation criterion—angle margin criterion （SA criterion） is proposed to evaluate the stability of its planned gait， so as to find the optimal gait. A test platform is set up for testing， and the results showed that the gait planning for straight and turning is reasonable and feasible.

关键词

四足机器人步态规划步态迁移协调旋转步态角度余量准则

Keywords

Quadruped robotGait planningGait migrationCoordinated rotation gaitAngle margin criterion

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