新型轮腿机器人步态规划策略

设计了一种新型步态可切换轮腿机器人。该机器人步态切换机理易于实现且不存在冗余机构，驱动系统置于封闭空间内，可在两栖环境下应用。基于模型控制步态的策略，规划了轮腿机器人的足端轨迹；利用运动学模型分析求解出各关节变量，对步态控制策略进行研究，并利用实验样机验证了基于足端轨迹规划的机器人步态控制策略的可行性。

Gait Planning Strategy for a New Type of Wheel-legged Robot

A new type of structure of wheel-leg robot was designed. The wheel-legged robot might work in the amphibious environment for the drive system in the closed structure and switch the wheel gait and leg gait without redundant structure easily. According to the method of model control, the foot trajectory generation method was used for the wheel-legged structure to raelize the robot to follow the trajectory in leg gait. The prototype robot was used to prove that the foot trajectory generation method may work in experiments.