中文摘要：

为提高点着地四足机器人在匀速对角小跑过程中的动态稳定性,将对角小跑过程简化为一个倒立摆模型.;针对四足机器人对角小跑过程中由于重心无法始终处于支撑对角线上所引起的翻转,在此模型中转换为由于重心引起的摆动角误差;采用虚位移原理对机器人摆动角的变化进行分析,确定不同重心运动变化对摆动角误差的影响并找到合适的重心起始位置,理论上能够使摆动角的误差为零;动态仿真实验验证了所提出的对角步态规划能够使四足机器人实现稳定的对角小跑的有效性.

英文摘要：

In order to improve the dynamic stability of the quadruped robot in the trot,an inverted pendulum model can be given by simplified the trotting.The center of gravity of the robot isn＇t always up of the supporting diagonal which causes the turning.In the model,the turning angle is changed into the swinging angle which is caused by the Gravity.By using the principle of vitual displacement analysis of the influence of the center of gravity position on the swing angle error,a special point is found,which can make sure the robot swing error angle to be zero at the end of the swing.Dynamic simulation experiments show that the quadruped robot can run a stable trotting which verify the validity of the proposed planning method.