四足机器人步行腿的运动学正反解

本文设计的步行腿具有3个驱动关节,分析了该步行机器人的机构及其等效简化,给出了运动学正反解,正解问题要比反解问题复杂很多。该分析方法准确率高,为步行腿的运动空间、轨迹规划和位置控制奠定了基础。

Quadruped robot walking leg kinematics Inverse Solution

In this paper, the design of walking legs with three drive joint analysis of the institutions of the walking robot and its equivalent simplified Kinematics and Inverse Solution positive solution of the problem is much more complex than the in- verse solution. The analytical method with high accuracy, and laid the foundation for walking space for the movement of the legs, trajectory planning and position control.