液压四足机器人关键步态参数优化

针对四足液压仿生机器人walk步态中足端轨迹规划问题，提出了通过优化步高和步长这两个关键步态参数来提高机器人行走稳定性的方法。通过聚合交叉的方法进行实验设计，用速度和步长及仿真得到的评价函数值进行三维曲面拟合，用速度截取所拟合的曲面得到不同速度下的最优步长。较优的步高确定采用二分法。步高和步长的优化效果用评价函数和Adams仿真进行验证，其中评价函数的构造充分考虑了表征机器人机身姿态平稳性的多组参数；四足机器人行走的仿真实验表明使用所述方法优化后的步态参数进行足端轨迹规划，得到的机器人静步态具有优异的运动性能表现。 

Key Gait Parameter Optimization for Hydraulic Quadruped Robot

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.