Self-collision Detection and Motion Planning of Hydraulic Quadruped Robot
Aiming at the selfcollision problem in the motion of fourlegged robots， the distance function method is adopted， the feature points are selected for the legs， and the distance between the feature points is detected to plan the trajectory of the foot In the research process， the threedimensional mode...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Harbin University of Science and Technology Publications
2020-10-01
|
| Series: | Journal of Harbin University of Science and Technology |
| Subjects: | |
| Online Access: | https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=1871 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | Aiming at the selfcollision problem in the motion of fourlegged robots， the distance function method is adopted， the feature points are selected for the legs， and the distance between the feature points is detected to plan the trajectory of the foot In the research process， the threedimensional model of the quadruped robot was established， and four selfcollision position detection models were given The analysis of the leg motion space was performed Two feature points were selected on each leg， and the feature points were used to solve the feature points Control the distance between the legs to control the legs Through simulation analysis and experiment， the distance function method can be used to control the minimum distance between the two ends at 3472mm， effectively avoiding the collision problem between the legs during the running of the robot |
|---|---|
| ISSN: | 1007-2683 |