Trot Pattern Generation for Quadruped Robot Based on the ZMP Stability Margin

摘要：

　　Quadruped robot is expected to serve in complex conditions such as mountain road,grassland,etc.,therefore we desire a walking pattern generation that can guarantee both the speed and the stability of the quadruped robot.In order to solve this problem,this paper focuses on the stability for the tort pattern and proposes trot pattern generation for quadruped robot on the basis of ZMP stability margin.The foot trajectory is first designed based on the work space limitation.Then the ZMP and stability margin is computed to achieve the optimal trajectory of the midpoint of the hip joint of the robot.The angles of each joint are finally obtained through the inverse kinematics calculation.Finally,the effectiveness of the proposed method is demonstrated by the results from the simulation and the experiment on the quadruped robot in BIT.

关键词： Quadruped robot ZMP stability margin Trot pattern

作者: Si Zhang Yi Liu Zhe Xu Junyao Gao Xingguang Duan Hui Li Zhangguo Yu Xuechao Chen Jing Li Huaxin Liu Xin LI

作者单位: Intelligent Robotics Institute, Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering, Beijing Institute of Technology 5 Nandajie, Zhongguancun, Haidian, Beijing, 100081, China

会议类型: 国际会议

会议名称: 2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

会议地点: 北京

会议语种:英文

页码: 608-613

在线出版日期: 2013-05-25（万方平台首次上网日期，不代表论文的发表时间）