基于地面反力检测的四足马机器人适应步行法

为适应国内外对四足马机器人进行的广泛研究，根据四足马机器人的结构模型和步行稳定性分析，对其适应步行法进行了研究。首先，介绍了具有12个运动关节和球形脚部的四足马机器人结构模型，并求出了其运动学反解；其次，在分析步行稳定性和检测地面反力的基础上，提出了一种四足马机器人适应步行的实现方法；最后，通过自制的小型四足马机器人进行了适应步行实验。实验结果表明，所提出的四足马机器人适应步行法具有可行性。

Adaptive gait of a quadruped horse robot based on measuring the ground reaction force

In order to adopt the wide research on quadruped horse robot at home and abroad, according to the analysis of structure model and walk stability, the adaptive gait of a quadruped horse robot was researched. At first, a structure model of this quadruped robot with 12 joints and four globose feet was introduced, and the reverse kinematics of this robot was acquired. And then, based on analyzing the walk stability and measuring the ground reaction force, a methods was proposed to realize the adaptive walk of the quadruped horse robot. Finally, walk experiments were performed based on a self-made mini quadruped horse robot. The walk experiment results indicate the validity of proposed adaptive gait of the quadruped horse robot.