基于圆弧模型的四足机器人步态规划

Gait Planning of Four-legged Robot Based on Arch-shaped Model

  • 摘要: 根据A ibo机器狗前腿的圆弧型结构建立了机器人腿部的二维实体模型,并通过两个直角三角形解算A ibo机器狗的逆运动学.在此模型的基础上进行前腿在地面滚动行走的同心圆步态规划,并通过机器学习得到了平稳、快速的行走步态参数.

     

    Abstract: According to the arch-shaped structure of Aibo robot’s front leg,a two dimensional model of robot leg is built.Using two right-angled triangles,the inverse kinematics of Aibo is calculated.Based on this model,a concentric circle gait is planned to make Aibo walk with its front feet rolling on the ground,and the parameters of fast and stable walking are obtained with machine learning.

     

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