中文摘要：

针对步行机器人在实际运动中存在的运动误差问题,在介绍仿爬行类机器人Mini Quad-Ⅰ结构的基础上,建立了该类机器人的几何参数模型。讨论了该类四足步行机器人参数误差与结构尺寸及运动轨迹误差的关系,对该类机器人运动学的标定模型进行了详细研究。通过测量机器人在给定轨迹下运动时,机体位姿的变化及各关节运动角的实际运动角,对机器人的结构参数进行标定。开发了标定参数的自动计算系统,并以实例进行了说明。为建立机器人的相对精确控制模型奠定了基础。

英文摘要：

Aiming at motion error problems of walking robot in the actual movement, a geometric parameter model of the robot is established based on introducing structure of reptiles - like robot MiniQuad - I . The relationships among the robot parameters error and the structure size and the trajectory error are discussed, the kinematics calibration model of this kind of robot is studied in detail. By measuring the change of the body posture and each joint movement angle, the structure parameters of the robot are calibrated , when the robot movements in given trajectory. The automatic calculation system for parameters calibration is developed, and parameters calibration process is illustrated with example. A foundation for establishing relatively accurate control models of the robot is laid by the research.