Abstract: When the robots were working in unmanned environments, it was difficult to avoid overturning and loss of movement due to external forces and terrains. Therefore, it was necessary that the robots had the self-recovery ability. In the static self-recovery method, the traditional recovery method could only be achieved by the movement of the legs. Based on the movable trunks of the metamorphic robots, different from traditional method a self-recovery strategy with the movement of the trunk was proposed when the quadruped robot overturned. The strategy used bionic inspiration to design the action and compared this method with the case of the trunk without metamorphosis from the perspective of force and energy. The optimized centroid trajectory and the shock absorption method were obtained. In addition, the simulation software and the prototype experiments were used to verify the feasibility of this method and it is proved that the strategy reduces the difficulty of achieving static self-recovery. Besides, experiments under different conditions prove that the strategy has certain stability and adaptability on different terrains.

Key words: self-recovery, quadruped robot, movable trunk, static method, metamorphic

摘要： 机器人在无人环境下工作时，受外力及地形等因素影响而发生倾覆失去运动能力的情况难以避免，因此机器人需要具备倾覆后的自我恢复能力。在以静态方法为基础的恢复方法中，传统的恢复方式只能依靠腿部的运动来实现,而基于变胞四足机器人的可动躯干，可以提出一种区别于传统方法的利用躯干运动来实现四足机器人自我恢复的策略,该策略借鉴仿生灵感对动作进行规划。从力和能量的角度将这一方法与躯干无变胞的情况进行了对比，得到了优化的质心轨迹与减振方法。此外，利用仿真软件与变胞机器人样机对该策略进行了仿真与实物实验，验证了该方法的可行性并证明其可降低实现静态自我恢复的难度，并且通过不同条件下的实验证明了其在不同地形下具有一定的稳定性与适应性。

关键词: 自我恢复, 四足机器人, 可动躯干, 静态方法, 变胞