The invention relates to robot gait optimization design, in particular to a sectional quintic polynomial curve obstacle crossing gait planning method which comprises the following steps: 1, setting structural parameters of a quadruped robot according to a prototype; wherein the length and width of the rack and the length of each leg connecting rod are included; 2, setting the initial posture and motion parameters of the quadruped robot; 3, after the foot end points are determined in the step 1 and the step 2, using kinematics inverse solutions for solving the angles of all joints of each leg;4, enabling the quadruped robot to move to a 300mm thin plate in walk gait, so as to reach the starting position of obstacle crossing gait; 5, correcting the position before the obstacle crossing gait, namely preparing a posture before the obstacle crossing gait; the position correction comprises forward and backward retreating position correction and squatting height correction. 6, performing obstacle crossing of the right front leg; giving the position of a foot end foothold, and performing quintic polynomial curve planning in three sections from the initial point of the foot end to the foothold.
本发明涉及机器人步态优化设计,具体为一种分段式五次多项式曲线越障步态规划方法,包括如下步骤:步骤1:根据样机设定四足机器人结构参数;包括机架的长和宽、各个腿连杆长度;步骤2:设定四足机器人初始姿态以及运动参数;步骤3:由步骤1、步骤2确定足端点后,用运动学逆解求解出每条腿各个关节角度;步骤4:使四足机器人以walk步态运动到300mm薄板处,即达到越障步态的起始位置;步骤5:越障步态前的位置修正,即越障步态前准备姿态;包括前后退的位置修正、下蹲高度修正;步骤6:右前腿越障;给定足端落脚点位置,从足端的初始点到落脚点分三段进行进行五次多项式曲线规划。
Sectional quintic polynomial curve obstacle crossing gait planning method
一种分段式五次多项式曲线越障步态规划方法
2021-01-08
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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