论文部分内容阅读
为解决步行机器人在复杂环境下的运动问题 ,根据步行运动的特点 ,提出了单腿运动的 Petri网控制模型 ,又以5足步行机为例 ,建立了与其腿数相对应的多腿协调控制模型 ,并制定了相应的控制策略。在此基础上 ,重新提出了有关步行机器人自由步态的有关概念及其运动规划算法 ,定义了保持静稳定行走状态的运动条件和判断方法。最后对 5足步行机在平面不连续落足区内的跨沟运动进行了仿真。仿真结果表明 ,提出的运动控制模型和自由步态能够自动适应运动环境 ,实现离散地形下的步行运动
In order to solve the problem of walking robot in complex environment, according to the characteristics of walking movement, Petri net control model of single-leg movement is proposed. Taking the 5-foot walking machine as an example, multi-leg coordination control Model, and developed the corresponding control strategy. On this basis, the relevant concepts and motion planning algorithms for free walking of walking robots are re-proposed, and the moving conditions and judging methods for maintaining static and steady walking conditions are defined. Finally, the simulation of the cross-ditch motion of 5-foot walking machine in the discontinuous zone of plane discontinuity was carried out. The simulation results show that the proposed motion control model and free gait can automatically adapt to the movement environment and achieve walking under discrete terrain