狗腿的摆线可以使用 https://zhuanlan.zhihu.com/p/69869440

    image.png

    8自由度机械狗没有y方向的移动 x方向移动,分成摆动相和支撑相

    11.png
    22.png
    小跑步态规划实现

    1. //周期 占空比 增加速度
    2. #define faai 0.5
    3. #define Ts  1
    4. #define speed 0.1
    5. #define ori_speed 0.025
    7. //步态规划
    8. void trot_plan(double t,double xs,double xf,double h,
    9.     double r1,double r2,double r3,double r4,double x_pos[4],double y_pos[4]){
    10.         if(t<=Ts*faai){
    11.             sigma = (2*PI*t)/(faai*Ts);
    12.             zep = h*(1-cos(sigma))/2;
    13.             xep_b = (xf-xs)*((sigma-sin(sigma))/(2*PI))+xs;
    14.             xep_z = (xs-xf)*((sigma-sin(sigma))/(2*PI))+xf;
    15.             //y坐标值
    16.             y_pos[0] = ges_y_1-zep;
    17.             y_pos[1] = ges_y_2;
    18.             y_pos[2] = ges_y_3;
    19.             y_pos[3] = ges_y_4-zep;
    20.             //x坐标值
    21.             x_pos[0] = xep_b*r1;
    22.             x_pos[1] = xep_z*r2;
    23.             x_pos[2] = xep_z*r3;
    24.             x_pos[3] = xep_b*r4;
    25.         }else if((t>Ts*faai)&&(t<=Ts)){
    26.             sigma = (2*PI*(t-Ts*faai))/(faai*Ts);
    27.             zep = h*(1-cos(sigma))/2;
    28.             xep_b = (xf-xs)*((sigma-sin(sigma))/(2*PI))+xs;
    29.             xep_z = (xs-xf)*((sigma-sin(sigma))/(2*PI))+xf;
    30.             //y坐标值
    31.             y_pos[0] = ges_y_1;
    32.             y_pos[1] = ges_y_2-zep;
    33.             y_pos[2] = ges_y_3-zep;
    34.             y_pos[3] = ges_y_4;
    35.             //x坐标值
    36.             x_pos[0] = xep_z*r1;
    37.             x_pos[1] = xep_b*r2;
    38.             x_pos[2] = xep_b*r3;
    39.             x_pos[3] = xep_z*r4;
    40.         }
    41. }