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浙江大学学报(工学版)
JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE)
    
Turning gait with constant radius of six-legged walking robot
CHEN Gang, JIN Bo, CHEN Ying
State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
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Abstract  

The tripod gait was used in turning gait with constant radius of six-legged walking robot. The planning method for turning gait with constant radius based on the tripod gait was presented which simplifies the turning gait of six-legged walking robot. The method using line segments to track the circle trajectory of center of gravity of the six-legged walking robot was employed to the turning gait with constant radius. An approach to calculate the maximum turning angle of the six-legged walking robot was proposed based on stability constraint and motion constraint. Different turning angles were applied in the turning gait with constant radius of the six-legged walking robot to improve the turning ability in every step when the two groups of legs support the robot respectively. A simulation was conducted with MATLAB and ADAMS to verify the turning gait with constant radius of the six-legged walking robot. Results show that the turning gait with constant radius is correct．

Published: 04 August 2014
CLC:  TP 242  
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Cite this article:

CHEN Gang, JIN Bo, CHEN Ying. Turning gait with constant radius of six-legged walking robot. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2014, 48(7): 1278-1286.

URL:

http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2014.07.020     OR     http://www.zjujournals.com/eng/Y2014/V48/I7/1278


六足步行机器人定半径转弯步态

将三角步态应用于六足步行机器人定半径转弯步态中,提出基于三角步态的定半径转弯步态规划方法,简化了六足步行机器人转弯步态.将利用重心直线段轨迹跟踪定半径圆轨迹的方法运用到六足步行机器人的定半径转弯步态中,提出基于稳定性约束和腿运动约束条件下的六足步行机器人最大转弯角度的求解方法.在六足步行机器人定半径转弯步态中,对于2组腿分别作为支撑腿转弯时,采用不同的转弯角度从而有效地利用机器人转弯过程中每步的转弯能力.利用MATLAB和ADAMS软件对基于三角步态的六足步行机器人定半径转弯步态进行仿真,仿真结果验证了提出的转弯步态规划方法的正确性.

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