中文摘要：

步行机器人移动能效率研究有重要意义.针对四足机器人对角小跑步态,对比分析了三种不同足端轨迹的移动能效率问题.将四足机器人的对角小跑步态周期分为摆动相和支撑相,采用D-H坐标法和反变换法进行了腿机构运动学正逆解分析.基于刚体动力学的质心运动定理分析足端接触模型,考虑动态步行中足端与地面间的接触,曲雅可比矩阵建立步行中足端接触力与关节驱动力矩的映射关系,并基于拉格朗日动力学建模法对四足机器人摆动相和支撑相分别进行动力学建模.规划了三种不同足端轨迹,分别为摆线函数、正弦函数和直线函数,对比分析了三种足端轨迹下的运动学和动力学特性.进行完整对角小跑步态周期的能量消耗分析,以移动能耗率为评价指标,对比分析三种足端轨迹的能量消耗,研究四足机器人步高、步距、关节起始角等步态参数对移动能量消耗的影响,为四足机器人的参数优化和轨迹规划提供理论依据.

英文摘要：

It has important theoretical significance to analyze the energy efficiency of walking robot. The energy efficiency of quadruped robot with trot gait under three kind of foot trajectory was analyzed. The trot gait was divided into swing phase and support phase. Firstly, the D-H coordinates and inverse transformation method was adopted to analyze the kinematics. The contact force between foots and ground during walking was considered. The contact model was presented according to the principles of centroid movement of rigid body dynamics to derive the mapping relationship between contact force and joint driving torques by Jacobian matrix, and the dynamics of quadruped robot in swing phase and support phase was derived by Lagrangian method. The dynamic model was established considering periodic contact between feet and ground during walking. Three different kind of foot trajectory were presented, which are cycloidal trajectory, sinusoidal trajectory and linear trajectory, respectively. Afterwards, the kinematics and dynamics of quadruped robot under different foot trajectory were analyzed. Finally, the specific resistance was taken as the evaluating indicator, the energy consumption of quadruped robot under three different foot trajectory was analyzed, and the gait parameters such as step height, step length and joint initial angle that affect on the energy consumption were studied, which will provide theoretical basis for parameters optimization and trajectory planning of the quadruped robot.