孙军权 . 自适应行星轮式履带机器人的研究 [D ] . 北京 : 北京交通大学 , 2019 : 58 - 62 .

SUN J Q . Research on adaptive planetary wheeled tracked robot [D ] . Beijing : Beijing Jiaotong University , 2019 : 58 - 62 . (in Chinese)

曾凡芹 . Kuramoto模型的同步与渐近行为 [D ] . 哈尔滨 : 哈尔滨工业大学 , 2017 : 49 - 53 .

ZENG F Q . Synchronization and asymptotic behavior of Kuramoto's model [D ] . Harb in:Harbin Institute of Technology, 2017 : 49 - 53 . (in Chinese)

段宝国 , 王新晴 , 许鸿辉 . CPG四足机器人典型步态生成方法的研究 [J ] . 电子技术 , 2020 , 49 ( 5 ): 20 - 23 .

DUAN B G , WANG X Q , XU H H . Research on typical gait generation method of CPG quadruped robot [J ] . Electronic Technology , 2020 , 49 ( 5 ): 20 - 23 . (in Chinese)

陈建宇 . 四足机器人参数辨识及步态规划研究 [D ] . 秦皇岛 : 燕山大学 , 2020 : 60 - 93 .

CHEN J Y . Research on parameter identification and gait planning of quadruped robot [D ] . Qinhuangdao : Yanshan University , 2020 : 60 - 93 . (in Chinese)

陈久朋 . 四足机器人步态及运动控制研究 [D ] . 昆明 : 昆明理工大学 , 2021 : 23 - 52 .

CHEN J P . Research on gait and motion control of quadruped robot [D ] . Kunming : Kunming University of Science and Technology , 2021 : 23 - 52 . (in Chinese)

胡鑫 . 爆发式同步的广义Kuramoto模型的解析求解 [D ] . 上海 : 华东师范大学 , 2014 : 49 - 57 .

HU X . Analytical solution of generalized Kuramoto model for explosive synchronization [D ] . Shanghai : East China Normal University , 2014 : 49 - 57 . (in Chinese)

牛建业 , 王洪波 , 史洪敏 . 变自由度轮足复合机器人轨迹规划验证及步态研究 [J ] . 农业工程学报 , 2017 , 33 ( 23 ): 38 - 47 .

NIU J Y , WANG H B , SHI H M . Research on trajectory planning verification and gait of variable degree of freedom wheel-foot composite robot [J ] . Transactions of the Chinese Society of Agricultural Engineering , 2017 , 33 ( 23 ): 38 - 47 . (in Chinese)

OWAKI D , ISHIGURO A . A quadruped robot exhibiting spontaneous gait transitions from walking to trotting to galloping [J ] . Scientific Reports , 2017 , 7 ( 1 ): 277 - 279 . DOI: 10.1038/s41598-017-00348-9 http://doi.org/10.1038/s41598-017-00348-9 The manner in which quadrupeds change their locomotive patterns-walking, trotting, and galloping-with changing speed is poorly understood. In this paper, we provide evidence for interlimb coordination during gait transitions using a quadruped robot for which coordination between the legs can be self-organized through a simple "central pattern generator" (CPG) model. We demonstrate spontaneous gait transitions between energy-efficient patterns by changing only the parameter related to speed. Interlimb coordination was achieved with the use of local load sensing only without any preprogrammed patterns. Our model exploits physical communication through the body, suggesting that knowledge of physical communication is required to understand the leg coordination mechanism in legged animals and to establish design principles for legged robots that can reproduce flexible and efficient locomotion.

GEHRING C , COROS S , HUTTER M . Control of dynamic gaits for a quadrupedal robot [C ] //Proceedings of IEEE International Conference on Robotics and Automation (ICRA)IEEE International Conference on Robotics and Automation. Karlsruhe, Germany:IEEE , 2013 ( 5 ): 147 - 151 .

曲梦可 , 王洪波 , 荣誉 . 军用轮、腿混合四足机器人设计 [J ] . 兵工学报 , 2018 , 39 ( 4 ): 787 - 797 . DOI: 10.3969/j.issn.1000-1093.2018.04.019 http://doi.org/10.3969/j.issn.1000-1093.2018.04.019 为设计一种可以在迈步行走、有动力轮式机动、无动力轮旱冰式滑行3种运动方式之间灵活转换的轮、腿混合四足机器人，提出一种采用3-PUPS机构的超冗余、可变胞并联机械腿，其构型可以通过伺服电机的抱闸锁定实现变胞变换，从而使机械腿能根据任务需求实时改变自身构型和性能。在建立机械腿3-PUPS机构的运动学和静力学模型基础上，通过定义运动学和静力学性能评价指标，分析了机械腿尺寸参数对其各性能评价指标的影响规律，从而确定机械腿一组使机械腿运动学和静力学性能较为均衡的结构参数，并研制出机械腿的实验样机。建立轮、腿混合四足机器人整机的通用运动学模型，定义机器人整机的性能评价指标，分析机器人整机尺寸参数对其各性能评价指标的影响规律，并确定整机尺寸参数值，在此基础上完成了轮、腿混合四足机器人整机的设计方案。通过一套专用机器人标定系统对机械腿的实验样机进行位姿测量实验。研究结果表明：机械腿运动平台的实际运动沿x轴方向最大偏差为0.041 mm，沿y轴方向最大偏差为0.040 mm，沿 z轴方向最大偏差为0.040 mm；绕z轴姿态角最大偏差为0.041°，绕y轴姿态角最大偏差为0.043°，绕x轴姿态角最大偏差为0.045°；机械腿实验样机达到了通用式工业机器人的精度水平。

QU M K , WANG H B , RONG Y . Design of military wheel-leg hybrid quadruped robot [J ] . Acta Armamentarii , 2018 , 39 ( 4 ): 787 - 797 . (in Chinese)

OWEN T . Introduction to robotics: mechanics and control [J ] . Robotica , 1988 , 6 ( 2 ): 257 - 261 .

牛建业 . 基于串并混联机构的四轮足步行机器人研究 [D ] . 秦皇岛 : 燕山大学 , 2018 : 78 - 102 .

NIU J Y . Research on four-wheel foot walking robot based on series-parallel hybrid mechanism [D ] . Qinhuangdao : Yanshan University , 2018 : 78 - 102 . (in Chinese)

PRATT J E . Virtual model control of a biped walking robot [C ] //Proceedings of International Conference on Robotics and Automation. Albuquerque, NM, US:IEEE , 2002 .

WEI L , NICHOLAS S , SZCZEINSKI , et al. A neural network with central pattern generators entrained by sensory feedback controls walking of a bipedal model [J ] . Bioinspiration & Amp; Biomimetics , 2017 , 12 ( 6 ): 161 - 165 .

李鑫 . 基于虚拟模型和阻抗控制的四足液压驱动机器人行走研究 [D ] . 哈尔滨 : 哈尔滨工业大学 , 2018 : 71 - 75 .

LI X . Research on quadruped hydraulic robot walking based on virtual model and impedance control [D ] . Harbin : Harbin Institute of Technology , 2018 : 71 - 75 . (in Chinese)

陈佳品 , 程君实 , 席裕庚 . 基于虚拟模型的四足机器人直觉控制 [J ] . 上海交通大学学报 , 2002 ( 8 ): 1150 - 1154 .

CHEN J P , CHENG J S , XI Y G . Intuitive control of quadruped robot based on virtual model [J ] . Journal of Shanghai Jiaotong University , 2002 ( 8 ): 1150 - 1154 . (in Chinese)

PRATT J , CHEW C M , TORRES A . Virtual model control: an intuitive approach for bipedal locomotion [J ] . The International Journal of Robotics Research , 2001 , 20 ( 2 ): 129 - 143 . DOI: 10.1177/02783640122067309 http://doi.org/10.1177/02783640122067309 http://journals.sagepub.com/doi/10.1177/02783640122067309 http://journals.sagepub.com/doi/10.1177/02783640122067309 Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control framework is applied to a physical planar bipedal robot. It uses a simple set of virtual components that allows the robot to walk successfully over level terrain. This paper also describes how the algorithm can be augmented for rough terrain walking based on geometric consideration. The resulting algorithm is very simple and does not require the biped to have an extensive sensory system. The robot does not know the slope gradients and transition locations in advance. The ground is detected using foot contact switches. Using the algorithm, we have successfully compelled a simulated seven-link planar biped to walk blindly up and down slopes and over rolling terrain.

孟健 . 复杂地形环境四足机器人运动控制方法研究与实现 [D ] . 济南 : 山东大学 , 2015 : 91 - 94 .

MENG J . Research and implementation of motion control method for quadruped robot in complex terrain environment [D ] . Ji’nan : Shandong University , 2015 : 91 - 94 . (in Chinese)

段宝国 , 王新晴 , 许鸿辉 . 四足机器人多障碍地形通行能力研究 [J ] . 武汉理工大学学报 , 2021 , 43 ( 3 ): 79 - 86 .

DUAN B G , WANG X Q , XU H H . Research on the ability of quadruped robot to navigate terrain with multiple obstacles [J ] . Journal of Wuhan University of Technology , 2021 , 43 ( 3 ): 79 - 86 . (in Chinese)

AJALLOOEIAN M , POUYA S , SPROEWITZ A . Central pattern generators augmented with virtual model control for quadruped rough terrain locomotion [J ] . Proceedings-IEEE International Conference on Robotics and Automation , 2013 ( 18 ): 339 - 342 .

NIU J Y , WANG H B , SHI H M , et al. Study on structural modeling and kinematics analysis of a novel wheel-legged rescue robot [J ] . International Journal of Advanced Robotic Systems , 2018 , 15 ( 1 ): 1 - 17 .

乐斌 , 曾兴斌 . V-REP机器人仿真远程控制方法研究 [J ] . 工业控制计算机 , 2018 , 31 ( 9 ): 41 - 43 .

LE B , ZENG X B . Research on remote control method of V-REP robot simulation [J ] . Industrial Control Computer , 2018 , 31 ( 9 ): 41 - 43 . (in Chinese)