关键词: 四足机器人, 改进型对角小跑步态, 浮动机体运动学, 调整相

Abstract:

The classical trot gait for quadruped robot was planned in the body coordinate of robot, and there exist some problems which might decrease the stability and accuracy of the locomotion in practical applications.For example, the swing legs could  not  land the ground simultaneously,and the rolling-over of the body  could  not  be suppressed effectively. To overcome the problems,an improved trot gait for quadruped robot which was considered in the world coordinate was proposed  herein.The swing phase was planned via kinematics with floating base, and the term related to the body's position and attitude was introduced in the foot's Jacobian matrix to ensure the swing legs could  land the ground simultaneously. The adjustment phase  was introduced between the support phase and swing phase  when the four legs got in touch with ground. The body' posture might  be adjusted in the adjustment phase. Finally, the results of simulation and prototype experiments show  that, the proposed method can improve the stability and accuracy of the robot's locomotion.

Key words: quadruped robot, improved trot gait；kinematics with floating base；adjustment phase