[1]位琦斌 于 通.四足机器人结构设计与动力学仿真[J].大众科技,2023,25(12):15-18.
　Structural Design and Dynamic Simulation of Quadruped Robot[J].Popular Science & Technology,2023,25(12):15-18.
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四足机器人结构设计与动力学仿真()
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《大众科技》[ISSN:1008-1151/CN:45-1235/N]

卷:
25
期数:
2023年12
页码:
15-18
栏目:
信息技术与通信
出版日期:
2023-12-20

文章信息/Info

Title:
Structural Design and Dynamic Simulation of Quadruped Robot
作者:
位琦斌 于 通
（长安大学工程机械学院，陕西 西安 710064）
关键词:
四足机器人; 结构设计; 动力学仿真
Keywords:
quadruped robot;  structural design;  dynamic simulation
文献标志码:
A
摘要:
为了提高四足机器人的结构稳定性和运动灵活性，文章对四足机器人的结构设计和动力学控制进行了研究。首先，参考当前已有机器人的结构，对四足机器人整机进行设计，并通过SoildWorks软件进行三维建模。其次，对四足机器人的正逆运动学进行分析，作为基础控制。再次，对机器人单腿动力学方程进行求解，并在ROS+gazebo的虚拟物理环境下进行动力学仿真。最后，通过机器人运动的误差分析，验证其结构和控制方法的可行性。
Abstract:
In order to improve the structural stability and movement flexibility of the quadruped robot, the structural design and dynamic control of the quadruped robot are studied in this paper. Firstly, referring to the structure of the existing robot, the whole quadruped robot is designed, and 3D modeling is carried out through SoildWorks software. Secondly, the forward and inverse kinematics of the quadruped robot is analyzed as the basic control. After that, the dynamic equation of the robot’s single leg is solved, and the dynamic simulation is carried out in the virtual physical environment of ROS+gazebo. Finally, the feasibility of its structure and control method is verified by the error analysis of robot motion.

参考文献/References:

[1]　谭民，王硕. 机器人技术研究进展[J]. 自动化学报，2013，39(7): 963-972.[2] SEOK S, WANG A, CHUAH M Y, et al. Design principles for energy-efficient legged locomotion and implementation on the MIT cheetah robot[J]. IEEE/ASME Transactions on Mechatronics, 2015，20(3): 1117-1129.[3] HUTTER M, GEHRING C, JUD D, et al. Anymal: a highly mobile and dynamic quadrupedal robot[C]// 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Daejeon, Korea(South). IEEE, 2016: 38-44.[4] KATZ B, DI CARLO J , KIM S. Mini cheetah: A platform for pushing the limits of dynamic quadruped control[C]// 2019 International Conference on Robotics and Automation (ICRA). Montreal, Canada. IEEE, 2019: 6295-6301.[5] 胡春旭. ROS机器人开发实践[M].北京: 机械工业出版社，2018.

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备注/Memo

备注/Memo:
【收稿日期】2023-03-25【作者简介】位琦斌（1998－），男，长安大学工程机械学院硕士研究生，研究方向为机器人运动控制。
更新日期/Last Update: 2024-03-04