机器鳄鱼运动的仿生步态规划方法
Bionic Gait Planning Method for Motion of Crocodile Robot
黄可凡 1贾文祯 1韩路路 1蒋建平1
作者信息
- 1. 中山大学 航空航天学院,广东深圳 518107
- 折叠
摘要
模仿真实动物的运动步态是仿生机器人步态规划研究的一个重点.针对一种新型仿生机器鳄鱼的步态规划问题,采用动作捕捉技术获取了真实鳄鱼的运动步态.在此基础上,利用高斯牛顿法求解出机器鳄鱼的腿部关节角度,拟合得到与真实步态轨迹相似性较好的仿生步态,并分析了机器鳄鱼在该步态下的运动稳定性.虚拟样机的运动仿真实验结果表明:机器鳄鱼能用与真实鳄鱼相似的步态,以0.3 m/s的速度向前爬行,且具备较高的稳定性.
Abstract
Imitation of the gait of real animals is a focus on the gait planning research for bionic robot.In this paper,aiming at the gait planning of a new type of bionic crocodile robot,the motion capture technology is used to obtain the gait of the real crocodile.On this basis,the angle of the leg joint of the crocodile robot was solved by the Gauss-Newton method.Bionic gait obtained by fitting is similar to the real gait trajectory,and the kinematic stability of the crocodile robot in this gait was analyzed.The kinematic simulation results of the virtual prototype show that the crocodile robot can crawl forward at a speed of 0.3 m/s with a gait similar to that of the real crocodile and has high stability.
关键词
机器鳄鱼/步态规划/动作捕捉/运动稳定性/运动仿真Key words
crocodile robot/gait planning/motion capture/kinematic stability/kinematic simulation引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
维普
万方数据