%0 Journal Article
%T 可变刚度的四足机器人被动柔顺脊柱设计与应用<br>Design and application of passive compliant spine of quadruped robot with variable stiffness
%A 张秀丽
%A 谭小康
%A 吴海波
%J 北京交通大学学报
%D 2018
%R 10.11860/j.issn.1673-0291.2018.06.016
%X 摘要 为提高四足机器人的运动性能，从仿生学出发，通过对猎豹的脊柱结构和躯干运动特征进行研究，设计一款刚度可调的四足机器人被动柔顺脊柱——“四叶草”脊柱.在此基础上，为了研究“四叶草”脊柱对四足机器人运动过程中的速度、足端力和转弯半径的影响，搭建了具有“四叶草”脊柱的仿生四足机器人样机——DCatⅡ，并进行了跳跃（bound）步态下的奔跑运动实验和转弯运动实验.实验结果表明，被动柔顺脊柱能够减小DCatⅡ运动过程中的足端力；在脊柱整体刚度为681 N/m时，DCatⅡ的稳定运动速度最高，为0.92 m/s；脊柱在偏转（yaw）方向的刚度值越大，DCatⅡ运动的转弯半径越大.<br>Abstract：In order to improve the kinematic capability of quadruped robot, from the perspective of bionics, a passive compliant spine of quadruped robot with a variable stiffnet,Four-Leaf Clover spine,is designed by studying the characteristics of vertebral column structure and torso motion of cheetah. Based on that study, in order to study the influence of Four-Leaf Clover spine on the speed, foot force and turn radius of the quadruped robot during the movement, a prototype of bionic quadruped robot with Four-Leaf Clover spine is built, which is DCat Ⅱ, and the experiments on running and turning movement under bound gait are carried out. The experimental results show that the passive compliant spine can reduce the foot force of DCat Ⅱ during the movement. When the overall stiffness of Four-Leaf Clover spine is 681 N/m, the highest steady-state velocity of DCat Ⅱ is achieved, which is 0.92 m/s. The greater the stiffness value of the spine in the direction of yaw is, the greater the turn radius of DCat Ⅱ is.
%K 四足机器人
%K 被动柔顺脊柱
%K 伪刚体模型
%K 可变刚度&lt
%K br&gt
%K quadruped robot
%K passive compliant spine
%K pseudo-rigid-body model
%K variable stiffnes
%U http://jdxb.bjtu.edu.cn/CN/abstract/abstract3462.shtml