中文摘要：

将四足机器人对角小跑步态周期分为摆动相和支撑相,采用D飊H坐标法进行四足机器人运动学建模分析,提出基于质心运动定理分析腿机构处于支撑相的足端非连续约束力,通过力雅可比矩阵建立足端约束力与关节广义驱动力的映射关系。考虑足端与环境间的非连续约束,建立了具有变拓扑机构、非连续约束等特征的四足机器人非线性动力学模型,并通过虚拟样机仿真验证了动力学理论分析的正确性,为提高四足机器人非结构环境的机动性和动态稳定性研究提供了参考。

英文摘要：

The trot gait cycle was divided into swing phase and supporting phase.The D-H coordinate method was adopted to analyze the kinematics modeling for the robot.When the legs were in supporting phase,the non-continuous constraint force between feet and environment was analyzed based on the principles of centroid movement,and the mapping relationship between the constraint force and the joints generalized driving force can be determined by the force Jacques matrix.The non？continuous constraint force was considered to analyze the nonlinear dynamical equation of quadruped robot,which had the characteristic of variable topology mechanism and non-continuous constraint.The theoretical analysis results were verified by virtual prototype simulation.The study will provide theoretical basis for improving the mobility and dynamic stability of quadruped robots adapting to unstructured environment.