Outline
DOI: 10.66128/jaet202602.4 ISSN: 3071-5334
四足仿生机器人腿部结构优化与运动控制协同设计研究
宇翔 叶, 禹凡 刘, 玖之 夏, 浩翰 王, 健羽 李, 宇康 汪针对四足仿生机器人在复杂地形适应性与运动稳定性方面的挑战，本文提出一种腿部结构优化与运动控制协同设计方法。通过分析生物狗的后腿运动机理，设计了一种闭链式腿部结构，采用D-H法建立运动学模型，并基于雅可比矩阵进行静力学分析。在控制方面，引入模型预测控制算法，构建离散线性化误差状态空间模型，实现机器人的轨迹跟踪与平衡控制。研究结果表明，该协同设计方法有效提升了四足机器人的地形通过性和运动稳定性。
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