基于俯仰位姿调整的四足机器人爬坡运动策略

In order to solve the problems of slipping and poor motion continuity of quadruped robot at the transition position of climbing，a climbing motion strategy based on the pitch pose adjustment was proposed． Firstly，three quasi-static models of the quadruped robot at the bottom，the surface and the top of the slope were established，and two dimensionless quantities，the slip rate and the overturning rate，were defined as the evaluation indicators of the robot′s climbing performance． Then，the mapping relationship between the body pose parameters and the evaluation indicators was obtained by solving the quasi-static models，and an efficient pose adjustment strategy was formulated according to the mapping relationship． The simulation results show that the strategy proposed improves the motion performance of the quadruped robot in terms of slipping and poor motion continuity at the transition position by adjusting the body pitching pose，and improves the climbing stability and motion efficiency of the robot.