基于姿态控制的四足机器人Trot步态行走仿真

Gait Simulation of Quadruped Robot Trot Based on Attitude Control

摘要: 本文对四足机器人姿态控制方法下的trot步态行走进行研究。首先，对机器人的运动学模型进行分析，利用改进型的D-H坐标法建立了正运动学模型，并使用MATLAB机器人工具箱对正运动学分析内容进行验证。接着利用几何法对机器人的单腿逆运动学进行求解，并在MATLAB/Simulink中搭建模型对逆运动学内容进行验证。其次，根据足端零冲击原理，利用五次多项式轨迹规划，实现了机器人的平稳运动。针对行走时机身的不稳定问题，提出了一种姿态控制方法，并创新性的将其应用于trot步态行走控制策略之中，以保证行走时姿态的稳定。最后在MATLAB/Simulink中搭建仿真平台，对该控制策略的有效性和优越性进行了仿真验证。

Abstract: This article studies the gait walking and attitude control methods of a quadruped robot trot. Firstly, the kinematic model of the robot was analyzed, and an improved D-H coordinate method was used to establish a forward kinematic model. The content of forward kinematic analysis was validated using the MATLAB robot toolbox. Then, the geometric method is used to solve the inverse kinemat-ics of the robot’s single leg, and a model is built in MATLAB/Simulink to verify the inverse kinemat-ics content. Secondly, based on the principle of zero impact at the foot end, the robot's smooth mo-tion was achieved through trajectory planning using a quintic polynomial. For attitude control, in-depth research is conducted on its principles and applied to the trot gait control strategy to en-sure stable posture during walking. Finally, a simulation platform was built in MATLAB/Simulink to verify the effectiveness and superiority of the control strategy.