轮腿复合移动机器人自主越障姿态设定及轮腿运动协调算法实现

轮腿复合移动机器人具有很好的地面适应能力和越障能力。本文通过对机器人系统结构的分析和其越障高度的静态分析,计算出机器人能够越障的最大高度,并提出了针对典型地形环境(沟、坎、台)越障问题的机器人构型优化以及轮腿运动协调控制算法,而且通过实验验证了算法的有效性。

Wheel-leg complex mobile robot has strong obstacle-climbing capability and loop-shaped adaptability. Based on the analysis of mechanism design and static characteristic for mobile robot,the maximum altitude of the robot could pass by is calculated,this paper puts forward the control algorithm of configuration optimization and wheel-leg coordination of the robot for the typical terrain negotiation(the ditch,the dike and the step),and verify the effectiveness of the algorithm through experiments.