四足机器人基于功率最优原则的足端轨迹规划.pdf

International Journal of Mechanics Research 力学研究, 2016, 5(4), 138-147 Published Online December 2016 in Hans. /journal/ijm /10.12677/ijm.2016.54013 Trajectory Planning of Quadruped Robot Based on the Principle of Optimal Power 1,2 2 3 Lipeng Yuan , Zhiyu Zhang , Rongjian Ouyang 1 Changzhou China Dinosauria Kingdom Co., LTD, Changzhou Jiangsu 2 School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin Heilongjiang 3 Changzhou Dihua Digital Technology Co., LTD, Changzhou Jiangsu nd th nd Received: Dec. 2 , 2016; accepted: Dec. 19 , 2016; published: Dec. 22 , 2016 Copyright © 2016 by authors and Hans Publishers Inc. This work is licensed under the Creative Commons Attribution International License (CC BY). /licenses/by/4.0/ Open Access Abstract Trajectory planning is the key of the quadruped robot. Reasonable foot trajectory is helpful for reducing the impact during the feet of quadruped robot striking the ground. According to the principle of the zero impact, this paper plans three trajectories of the quadruped robot, and con- ducts the virtual prototype simulation of the three trajectories. According to the principle of the optimal power, it chooses the optimal trajectory for different gaits. This paper provides reference for solving this kind of problem and related problems. Keywords Quadruped Robot, Gait Planning, Trajectory Planning 四足机器人基于功率最优原则的足端轨迹规划 1,2 2 3 袁立鹏 ，张志宇，欧阳荣坚 1常州恐龙园股份有限公司，江苏 常州 2 哈尔滨工业大学机电工程学院，黑龙江 哈尔滨 3常州迪华数字科技有限公司，江苏 常州 文章引用: