液压四足机器人关键步态参数优化

Focusing on the foot trajectory planning of quadruped robot,a method to improve the stability of robot was proposed by optimizing the step-height and step-length gait parameters.An experimental design was carried out based on the aggregation cross method,and simulation and verification were carried out with Matlab and Adams.A three-dimensional surface was fitted with the speed,step size and the corresponding evaluation function value obtained by simulation,and then the optimal step length at different speeds could be obtained from the curved surface.The dichotomy was used to obtain the step-height interval to meet the evaluation index.The simulation results show that the gait planning based on the gait parameters obtained by the proposed method could make the robot achieve static gait with better motion performance.