四足机器人, 翻越台阶, 机体翻转, 运动学分析, 平面连杆机构

This paper presented a new step-climbing method of quadruped robot based on body flipping in order to improve its obstacle-negotiation ability. Quadruped robot was equivalent to planar linkage mechanism during step climbing. The motion during a complete step-climbing process was planned, and the process was divided into five phases. Kinematics modeling and analysis of each phase were presented; the angular displacement of robot joints and the trajectory of robot gravity were obtained through simulation. The relationship between the capability of step-climbing and geometric parameters of the robot was discussed, the results show that quadruped robot has strong capability of step-climbing when it uses the proposed method. This paper demonstrates the feasibility of the proposed method from the aspect of kinematics, makes some beneficial exploration in the methods of obstacle-negotiation, and provides a theoretical base for further researches. 