鳄鱼仿生机器人设计及其步态优化研究OA

In order to enhance the adaptability of the crocodile-inspired robot to diverse work environments and task requirements,after analyzing the crawling gait and rolling motion of crocodiles,a metamorphic mechanism for its legs is designedto achieve crawling and rolling functions in the crocodile-inspired bionic robot.Initially,the study employed the central pattern generator(CPG)motion control network model based on the Hopf non-linear oscillator to map the rhythmic signals to the robot's leg joint rotation angles.Subsequently,by applying the zero-moment point(ZMP)principle to analyze the stability of the crocodile robot,a method to reduce yaw angle by swinging the tail was proposed to optimize its crawling gait.Finally,MATLAB and ADAMS joint simulation analysis was conducted,the results indicate that the designed crocodile-inspired robot exhibits stable motion capability under different gaits.