李满天, 蒋振宇, 郭伟, 孙立宁. 四足仿生机器人单腿系统[J]. 机器人, 2014, 36(1): 21-28. DOI: 10.3724/SP.J.1218.2014.00021
引用本文: 李满天, 蒋振宇, 郭伟, 孙立宁. 四足仿生机器人单腿系统[J]. 机器人, 2014, 36(1): 21-28. DOI: 10.3724/SP.J.1218.2014.00021
LI Mantian, JIANG Zhenyu, GUO Wei, SUN Lining. Leg Prototype of a Bio-inspired Quadruped Robot[J]. ROBOT, 2014, 36(1): 21-28. DOI: 10.3724/SP.J.1218.2014.00021
Citation: LI Mantian, JIANG Zhenyu, GUO Wei, SUN Lining. Leg Prototype of a Bio-inspired Quadruped Robot[J]. ROBOT, 2014, 36(1): 21-28. DOI: 10.3724/SP.J.1218.2014.00021

四足仿生机器人单腿系统

Leg Prototype of a Bio-inspired Quadruped Robot

  • 摘要: 为实现四足仿生机器人动步态行走,设计一款基于液压驱动方式的机器人仿生单腿系统.首先,在四足哺乳动物肌肉-骨骼结构分析的基础上,确 定了机器人单腿的自由度配置;其次,通过机器人在平坦路面上的行走运动仿真,获得关节输出特性;随后,在仿真研究的基础上,完成了关节驱 动机构设计、液压驱动器选型、4自由度单腿设计以及控制系统设计;最后,搭建单腿子系统性能测试平台,并完成了单腿纵向弹跳实验.弹跳实验 验证了机械结构和控制系统设计的正确性和相关控制算法的有效性.

     

    Abstract: To realize the dynamic running of quadruped robots, a bio-inspired hopping leg prototype based on hydraulic actuation is developed. Firstly, the DOF (degree of freedom) configuration of a robot leg is discussed according to the anatomic analysis of quadruped mammals. Secondly, the trotting simulation on flat terrain is carried out to obtain the torque output characteristics of joints. Thirdly, the hydraulic actuators, joint driver mechanism and the 4DOF leg prototype are designed based on the analysis of simulation results, as well as the control system. At last, the test bench for the leg prototype is constructed to test the performance of the leg in vertical hopping experiments, in which the validity of the mechanical and control system design and the algorithms are verified.

     

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