基于视觉和触觉的四足机器人越障步态设计OA

A quadruped robot obstacle navigation method is proposed that integrates vision and tactile sensing,trajectory planning,and real-time gait adjustment.This method is designed to address scenarios where the robot encounters various obstacles on une-ven terrain.This method leverages OpenCV technology to identify and process obstacles in real time,enabling the robot to select an appropriate gait based on the characteristics of each obstacle.During gait planning,the generation of the foot trajectory is influ-enced by multiple factors,including position,velocity,acceleration,and inverse kinematics.The system combines real-time visual and tactile sensor data with forward kinematics to infer foot position,thereby formulating an obstacle navigation strategy.Simula-tion tests on the Webots platform and experiments with a quadruped robot have demonstrated the method's adaptability and stabil-ity.