轮桨腿一体两栖机器人爬行步态规划研究

爬行运动为轮桨腿一体两栖机器人基本运动模式之一。以机器人爬行运动为研究对象，分析了两栖机器人爬行运动机理，并建立了其典型驱动单元的运动学模型；根据机器人不同爬行运动状态，提出了基于轮桨和足板不同步态形式的运动规划策略；采用虚拟样机技术，对不同爬行状态下的步态规划效果进行了仿真试验分析和验证。试验结果表明，在规划的步态下，轮桨腿一体两栖机器人具有良好的爬行稳定性、转向机动性和越障能力。

The crawling movement is one of basic motion modes of the wheel-propeller-legged amphibious robot. The crawling movement is presented as the object in this paper. The motion principle of crawl is analyzed, and the kinematic model of typical driving mechanism is set up. According to various modes of crawl, different motion strategies expressed by kinds of gait are created based on the coordinated relationship between wheel-propellers and legs. In order to test the effects of gait planning in different crawling modes, the simulation researches are carried out by using virtual prototype of the robot. The simulation results prove that the wheel-propeller-legged amphibious robot be endowed with good performance in stability of crawl, flexibility of turning and ability of obstacle negotiation following the planned gaits.

国家自然科学基金资助项目（60605029）；国家863 计划资助项目（2006AA04Z232）．