张兵,郑彦宁,徐文福,闫磊,梁国伟.基于舞台表演用海龟机器人四足协调步态规划[J].仪器仪表学报,2017,38(3):545-551

基于舞台表演用海龟机器人四足协调步态规划

Coordinated quadrupedal gait planning of turtle robot for performingat digital stage

DOI：

英文关键词:robot theater performing robot bionic turtle biologically inspired quadrupedal coordination

基金项目:国家自然科学基金 (61573116)、深圳市文化创意产业发展专项 (深发改［2014］1507号)、深圳市基础研究计划(JCYJ20140417172417095)项目资助

作者	单位
张兵	1. 哈尔滨工业大学深圳研究生院深圳518055；2. 深圳数字舞台表演机器人技术工程实验室深圳518055
郑彦宁	1. 哈尔滨工业大学深圳研究生院深圳518055；2. 深圳数字舞台表演机器人技术工程实验室深圳518055
徐文福	1. 哈尔滨工业大学深圳研究生院深圳518055；2. 深圳数字舞台表演机器人技术工程实验室深圳518055
闫磊	1. 哈尔滨工业大学深圳研究生院深圳518055；2. 深圳数字舞台表演机器人技术工程实验室深圳518055
梁国伟	1. 哈尔滨工业大学深圳研究生院深圳518055；2. 深圳数字舞台表演机器人技术工程实验室深圳518055

Author	Institution
Zhang Bing	1. Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055, China; 2. Shenzhen Engineering Laboratory of Performance Robots at Digital Stage, Shenzhen 518055, China
Zheng Yanning	1. Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055, China; 2. Shenzhen Engineering Laboratory of Performance Robots at Digital Stage, Shenzhen 518055, China
Xu Wenfu	1. Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055, China; 2. Shenzhen Engineering Laboratory of Performance Robots at Digital Stage, Shenzhen 518055, China
Yan Lei	1. Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055, China; 2. Shenzhen Engineering Laboratory of Performance Robots at Digital Stage, Shenzhen 518055, China
Liang Guowei	1. Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055, China; 2. Shenzhen Engineering Laboratory of Performance Robots at Digital Stage, Shenzhen 518055, China

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中文摘要:

在所创作的机器人戏剧中，海龟机器人扮演着重要的角色，而四足协调步态是其完成舞台表演的关键。通过深入观测实际海龟的运动情况，分析其步态特点并总结运动规律，从仿生学的角度提出了基于生物启发的四足协调步态规划方法；推导了单腿的解析逆运动学方程，将腿部末端的运动轨迹转换为各关节的运动轨迹，为各关节的伺服控制器提供期望值；开发了基于Webots的动力学仿真系统，对所提出的方法进行了验证。最后，在所研制的海龟机器人样机上开展了四足协调步态的实验，结果进一步表明了所提方法的有效性。

英文摘要:

In the created robot drama, a turtle robot plays an important role. The coordinated quadrupedal gait is the key factor to complete the its performance on the stage. Through in depth observation of an actual turtle’s movement, we analyzed the characteristics of its gait and summarized the rules of the movement. Then, we proposed a bio inspired coordinated planning method for quadrupedal gait. The analytical inverse kinematics equation was derived, and the trajectory of foot (the end of leg) was also resolved into the motion of each joint of the leg. The generated joint angles were taken as the expected values of joints’ servo controllers. In order to verify the proposed method, a dynamic simulation system based on Webots software was developed and simulation study on typical gaits was performed. Finally, using the manufactured robotic prototype, we completed several experiments on coordinated quadrupedal gait planning. The results showed that the proposed method is effective for robotic drama performance.

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