Planning Algorithm and Simulation of Locomotion Mode Switching with a Biped Wheel-Legged Robot
Aiming at the problems of poor motion stability and the difficulty of switching between two locomotion modes of tradition-al wheel-legged robots,a new robot configuration was constructed and its humanoid foot gait was analyzed.By referring to the smoothness of the spline curve and the quaternion spherical interpolation,a no-slip motion mode switching planning model based on energy optimi-zation was proposed.Under the premise of hardware constraint,no slip and smooth joint motion,a smooth locomotion mode switching traj-ectory with less energy consumption was solved.By establishing the relationship between time matrix,spline curve and joint torque,the complexity of solution was reduced.The simulation results show that the algorithm can plan the locomotion mode switching of the robot effectively.Compared with other motion trajectories,this method has a significant improvement in energy consumption.
万方数据
维普
