%0 Journal Article
%T 基于重心侧向摆动的四足机器人爬行步态优化<br>Crawl Gait Optimization for Quadruped Robot Based on Gravity Center Lateral Movement
%A 潘少鹏
%A 施家栋
%A 王建中
%A 盛沙
%J 机械科学与技术
%D 2015
%X 针对四足机器人采用爬行步态行进时高稳定裕度和行走速度难以同时获得的问题，借助间歇爬行步态中重心侧向摆动的动作优化了爬行步态。通过侧向调整重心对爬行步态进行优化以达到行进速度和稳定裕度的平衡。定量描绘出重心侧向移动幅度对四足爬行步态稳定裕度的影响。基于Adams虚拟样机，仿真分析了优化后爬行步态在稳定性和速度上的改善。最后通过原理样机试验验证了该优化步态的有效性。<br>Referred to the characteristics of intermittent crawl gait, the continuous crawl gait was optimized with a lateral movement of the center of gravity (COG) to get a balance of speed and stability. Besides, the stability margin affected by lateral movement of COG was depicted quantitatively. The improvement of optimized crawl gait in stability and speed was analyzed based on Adams simulation. Finally the optimized crawl gait was verified by a quadruped robot prototype test
%K 四足机器人
%K 爬行步态
%K 稳定裕度
%K 重心侧向摆动&lt
%K br&gt
%K computer simulation
%K computer software
%K experiments
%K gravity center locomotion
%K optimization
%K quadruped robot
%K robots
%K schematic diagrams
%K stability analysis
%K stability
%K static balance
%U http://journals.nwpu.edu.cn/jxkxyjs/CN/abstract/abstract6066.shtml