仿生四足机器人单腿轨迹规划研究.

Quadruped robot has become a hot topic in the international community because it can adapt to the complex terrain environment using the way of detached feet. In view of the lack of bionic characteristics of the foot trajectory of the quadruped robot and the inconsistency between the walking effect and that of mammals, this study establishes the three-joint leg mechanism with the help of SolidWorks, obtains the leg kinematic model, and analyzes the leg trajectory motion by referring to the laws of biological movement. Combined with bionic characteristics and based on compound cycloid and quintic polynomial, a foot trajectory of compound cycloid quintic polynomial is planned in this study, which not only meets the law of bionic motion, but also meets the requirements of trajectory planning. In this study, MATLAB and ADAMS co-simulation is used to realize the kinematic simulation of single leg, and the prototype and control system are used to realize the physical motion of single leg. The experimental results show that the single-leg motion of the quadruped robot can realize the planned trajectory curve motion, and the acceleration is 0 at the second second, which is basically consistent with the simulation trajectory effect, which verifies the effectiveness of the proposed algorithm to a certain extent. [ABSTRACT FROM AUTHOR]