高动态四足机器人步态规划和优化与稳定运动控制方法研究

项目名称： 高动态四足机器人步态规划和优化与稳定运动控制方法研究

项目编号： No.61305130

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 李彬

作者单位： 齐鲁工业大学

项目金额： 23万元

中文摘要： 最近几年高性能四足机器人在国内外引起了广泛地关注，针对如何提高四足机器人的高动态特性、高环境适应性和大负载能力，开展了相关的研究工作，取得了一定的研究成果。但是，在机器人快速运动过程中的步态规划和稳定运动控制问题尚未取得根本性突破，特别是针对具有躯干自由度的高动态四足机器人，其实时的步态规划和稳定运动控制问题的解决尤为迫切。针对上述存在的问题，本课题拟以猎豹这种具有躯干自由度和高速奔跑能力的四足哺乳动物为仿生对象，通过对其骨骼结构、运动机理的分析，设计具有高速奔跑能力的高动态四足机器人仿生机构；进行机器人高速奔跑过程中动步态的规划和优化；设计机器人高速奔跑时的动态稳定判定方法和稳定运动控制策略；通过数学模型分析和虚拟样机仿真验证机器人高速奔跑时的步态规划、动态稳定运动控制等相关理论和关键技术的可行性和有效性，为研制高动态四足机器人物理样机提供一定的理论指导和仿真验证手段。

中文关键词： 四足机器人；步态规划；稳定性；运动控制；

英文摘要： Recently, high performance quadruped robots have obtained extensive attention at home and broad, the related research work was developed in view of how to improve the highly dynamic characteristics,high environmental adaptability and heavy payload capacity of the quadruped robots and has achieved certain achievements. However, the fundamental breakthrough for the problems of gait planning and stable locomotion during fast movement have not been reached. Especially for the highly dynamic quadruped robot with the torso degrees of freedom, it is particularly urgent to solve the problems of real-time gait planning and stable locomotion. To solve the problems mentioned above, based on imitating the quadrupedal mammal cheetah with torso degrees of freedom and high speed ability, this proposal designs the bionic stucture of the quadruped robot with high speed performance through analyzing the skeletal anatomy and motion mechanism of the cheeath, research areas also include the gait planning and optimization of the quadruped robot during the fast movement, the designs of the stability criteria of dynamic walking and the control strategies of stable locomotion. In terms of the analysis of mathematical model and virtual prototype simulation of the quadruped robot, we will verify the feasibility and effectiveness of releva

英文关键词： quadruped robot；gait planning；stability；locomotion control；