The invention belongs to the related technical field of mobile robots, and discloses a foot type motion gait planning method of a four-wheel-foot robot and the four-wheel-foot robotic.The method comprises the steps that S1, in the swing period of swing legs, the real-time gravity center position of a robot body is calculated and obtained; and S2, under the condition that the movement track of the machine body is not changed, the supporting positions of the supporting legs are adjusted through rolling of the wheels according to the real-time gravity center position, so that the projection of the real-time gravity center position on the ground is located in a supporting triangle formed by the supporting positions of the supporting legs. Considering that when one leg of the four-wheel-foot robot swings, wheels at the bottoms of the other three supporting legs can provide supporting force for a machine body while moving, on this basis, when the four-wheel-foot robot advances in a foot type movement mode, the supporting positions of wheel feet in a supporting phase are adjusted through rolling of the wheels, and therefore the four-wheel-foot robot can move forwards in the foot type movement mode. Therefore, the motion stability range is expanded, and the terrain adaptability and obstacle crossing performance of the robot are improved.
本发明属于移动机器人相关技术领域,其公开了一种四轮‑足机器人足式运动步态规划方法及四轮‑足机器人,其中方法包括:S1,在摆动腿的摆动周期中,计算获取机器人机体的实时重心位置;S2,在机体的运动轨迹不变的情况下,根据实时重心位置通过轮子的滚动调整支撑腿的支撑位置,使得实时重心位置在地面上的投影位于支撑腿的支撑位置所形成的支撑三角形内部。本发明考虑到四轮‑足机器人在一条腿摆动时其余三条支撑腿底部的轮子可以在移动的同时向机体提供支撑力,基于此,提出当四轮‑足机器人以足式运动模式行进时,处于支撑相的轮足通过轮子的滚动调整支撑位置,以便扩大运动稳定域,有利于提高机器人的地形适应性和越障性能。
Foot type motion gait planning method for four-wheel-foot robot and four-wheel-foot robot
四轮-足机器人足式运动步态规划方法及四轮-足机器人
2023-12-01
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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