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A gait generating algorithm with smooth speed transition for the locomotion of legged robots

机译：腿机器人运动平稳步态的步态生成算法

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摘要

Much of what is known about the gait-generated method is based on specified gait pattern. Yet in the wild, animals can move over terrains with widely varying properties in various gait patterns. Previous studies have realized gait types such as trot or walk in various legged robots, but no detailed relationship descriptions of different gaits are currently available. This paper addresses the intrinsic relationship between all kinds of gait for legged robot locomotion in order to realize the gait transition smoothly. Based on their relations, the proposed gait-generated method is constructed by a support factor and a delay factor, which describe locomotion efficiency and leg difference motion, respectively. A gait ring concept is proposed to explain their intrinsic relation, and a gait algorithm is proposed to realize the speed transition for legged robot locomotion. A quadruped robot called MATA_ I with 12 DOFs is specially designed for realizing gait transition. This kind of robot has a 4RRRS parallel motion structure, and each joint is driven by motor modules. The algorithm with smooth transition between different gaits was applied in this kind of robot. The simulation results have shown that the proposed gait-generated algorithms can effectively realize gait transition for legged robot.
机译：关于步态生成方法的许多已知信息都基于指定的步态模式。然而，在野外，动物可以以各种步态模式在具有广泛变化特性的地形上移动。先前的研究已经在各种有腿机器人中实现了步态类型，例如小跑或步行，但是目前尚无关于不同步态的详细关系描述。本文探讨了腿式机器人运动中各种步态之间的内在联系，以便平稳地实现步态转换。基于它们之间的关系，通过支撑因子和延迟因子构建了步态生成方法，分别描述了运动效率和腿部差异运动。提出了一种步态环的概念来解释它们的内在联系，并提出了一种步态算法来实现有腿机器人运动的速度转换。具有12个自由度的名为MATA_ I的四足机器人专门设计用于实现步态转换。这种机器人具有4RRRS平行运动结构，每个关节由电动机模块驱动。这种步态在不同步态之间平滑过渡的算法被应用。仿真结果表明，所提出的步态生成算法可以有效地实现腿式机器人的步态转换。

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