高负载四足机器人的步态规划与控制
首发时间:2014-01-06
摘要:本文针对高负荷的四足机器人设计了位置控制器,实现了机器人在平坦地面上的稳定行走。本文使用的四足机器人为自主研发,该机器人设计有特殊的驱动系统和创新性的并联式腿结构,实现了机器人的高负载能力。本文利用Bezier曲线为机器人设计了足迹运动轨迹,提高了机器人的稳定性。仿真结果和实验验证了本文所设计控制器的有效性。
关键词: 控制理论与控制工程 四足机器人 步态规划 平坦地面 轨迹规划
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Gait Planning and Control of Quadruped Robot with High Payload
Abstract:IThe paper proposes a position controller for a quadruped robot with high payload. The robot we use in this paper is developed by our lab, the high payload capacity is realized by the specific design of its actuation system, integrating novel high precision actuators, and by its legs, composed by a new family of parallel mechanisms. The foot trajectory is scheduled based on the Bezier curve in order to improve the stability of quadruped robot. The performance and efficiency of the proposed methods are verified by simulation and experiments.
Keywords: Control theory and applications quadruped robot gait planning even terrain trajectory planning
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