Motion analysis and gait planning of a novel revolving wheel-legged robot

被引：0
|
作者：
Zhang C. [1 ]
Wang G. [1 ]
Che H. [2 ]
Li W. [1 ]
机构：
[1] School of Modern Post, Beijing University of Posts and Telecommunications, Beijing
[2] Beijing Key Laboratory of Subway Fire and Passenger Traffic Safety, China Research Institute of Work Safety, Beijing
来源：
Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2024年 / 50卷 / 05期
关键词：
gait analysis; hip joint structure; kinematic analysis; obstacle crossing; wheel-legged robot;
D O I：
10.13700/j.bh.1001-5965.2022.0491
中图分类号：
学科分类号：
摘要：
To address the problems of the existing quadruped robot's insufficient obstacle surmounting ability and unstable obstacle surmounting, a new wheel-legged robot was proposed to achieve high obstacle surmounting and stable centroid through wheel-train transmission. Adopting the wheel configuration, the hip joint of the robot expands the range of motion of the robot leg, overcomes the contradiction between the height of obstacle crossing and the length of the robot leg, and ensures the smooth motion trajectory of the robot centroid through reasonable gait planning. A kinematics model of the robot was established based on Denavit-Hartenbery (D-H) method, and the mapping relationship between the end of the robot leg and the height of obstacle crossing was constructed. According to the mapping relationship, the optimal height of obstacle crossing was 66.4% of the length of the robot leg. The static stability criterionv center of gravity (CoG) is used to plan the obstacle crossing gait and static walking gait of the robot, and the stability of the center of mass under this gait is verified by simulation experiments. An experimental prototype was built and the obstacle crossing experiment was carried out, which further verified the effectiveness and feasibility of the high obstacle crossing height and stable centroid of the proposed wheel-legged robot. © 2024 Beijing University of Aeronautics and Astronautics (BUAA). All rights reserved.
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页码：1675 / 1684
页数：9
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