有并联脊柱的四足机器人步态规划

为了增加足式机器人的腿部运动范围和吸收地面冲击力，在刚性躯体四足机器人的基础上，设计3-RPS并联机构作为机器人的脊柱.建立有脊柱四足机器人的运动学模型，得到脊柱关节的周期性与质心位置的关系.在对角步态的基础上，利用脊柱偏航方向的自由度，规划了脊柱扭转对角步态.采用Hopf振荡器，建立耦合中枢模式发生器（CPG）网络输出步态曲线.通过与刚性躯干四足机器人的对比仿真和实验可知，主动脊柱的加入使机器人运行过程中的俯仰波动降低45.79%，矫正了偏航位置. 脊柱关节的周期性转动不会引起质心位置的突变.脊柱波动与肢体摆动间的协调，使得有脊柱四足机器人具有更优的运动性能.
Abstract: A 3-RPS parallel structure was added as the spine based on the quadruped robot with rigid body in order to increase the range of motion and absorb ground impact for legged robots. The kinematics model of robot with spine was established to relate between the rotation of spine and centroid. Twisting trot gait was planned by the yaw joint of spine based on trot gait. The coupled central pattern generator (CPG)was constructed by five Hopf oscillator models in order to output gait curves of limbs and spine. Analysis of longitudinal stable operating conditions of quadruped robot using zero moment point was conducted. The simulation and experimental results show that active spine can reduce pitch fluctuation of the robot by45.79%, correct the yaw position and improve the stability and coordination during movement compared with rigid torso robot. The periodic rotation of the spine does not lead to a mutation of the centroid. Robot with active spine has a better performance for the stabilizing and motion by the coordination between rotating spine and swinging limbs.