适用多种环境的救灾勘探四足仿生机器狗

方子豪¹，刘艺璇¹，刘栎汐¹

1. 中国民航大学电子信息与自动化学院，天津市，300300

摘要：自然灾害频发，救援人员的伤亡人数也在增加，因此机器人代替人完成救援工作成为研究热点。根据对国际相关领域研究成果的分析，本文设计了一款稳定性高、环境适应能力强的四足仿生机器狗。其全身支架采用碳纤维打造，搭配大扭矩电机，结合坦克底盘和六自由度机械臂，实现不同地形环境下的前进方式转换；基于前肘后膝式的腿形设计并结合ADAMS仿真，实现稳定行走；结合气体检测和图像识别模块，实现救灾现场的环境勘探和搜救任务；基于稳定裕度最优化的原则，采用对角步态的行走步态控制方式。本文公布了八自由度前肘后膝式X腿形四足仿生机器狗机械设计及其步态控制方案。

关键词：四足；仿生；坦克底盘；机械臂；ADAMS仿真；图像识别；环境勘探；稳定裕度最优化；对角步态

Disaster-recovery quadruped bionicrobot for various environments

Fang Zihao¹，Liu Yixuan¹，Liu Yuexi¹

1.CivilAviationUniversityofChina,CollegeofInformationEngineeringandAutomation,TianjinCity,300300

Abstract：With the frequent occurrence of natural disasters, the number of casualties of rescuers is increasing, and the robots to complete rescue work instead of human beings has become a research hotspot. Based on the analysis of the research findings in relevant international fields, a bionic four-legged robotic dog with high stability and strong environmental adaptability was designed. The whole body frame is made of carbon fiber, equipped with a large torque motor and combined with the tank chassis and the six-degree-of-freedom mechanical arm to achieve the forward mode conversion in different terrain environments. Based on the elbow-knee legs of the robot and combined with ADAMS simulation, stable walking is achieved. Combined with gas detection and image recognition modules, it can complete environmental exploration and search-and-rescue missions at the site of the disaster. Based on the principle of stability margin optimization, the gait control method of diagonal gait is adopted. The mechanical design of the 8-degree-of-freedom and the elbow-knee bionic four-legged robotic dog and its gait control scheme were announced.

Keywords：Quadruped; Bionic; Tank chassis; Mechanical arm; ADAMS simulation; Image recognition;Environmental exploration;Stability margin optimization;Diagonal gait