四足机器人稳定性判定及越障动作设计.

It is difficult for robots to work in rough terrain, so a quadruped hydraulic robot is designed. The design of the four-legged hydraulic robot is based on the deformation of the four-legged and wheeled robot, enabling the robot to adapt to more complex terrain, including up/down steep slopes, up steps and over gullies. Firstly, the algorithm of robot motion stability determination is investigated, and the SSM stability determination method is more suitable for analyzing the obstacle crossing motion process of quadruped hydraulic robot. Secondly, based on SSM principle, the gaits for obstacle crossing are designed. Finally, the movement simulation was completed under gazebo physics engine based on ROS system. Through the calculation of the SSM margin value and the physical simulation experiment, the robot can safely and stably cross the obstacle, which proves the effectiveness of the motion design during the obstacle crossing process. [ABSTRACT FROM AUTHOR]