摘要
为研究仿人机器人的平地行走运动,首先,根据人体结构特点和运动特征,并基于二维倒立摆原理,规划机器人平地行走过程中质心和摆动腿踝关节的运动轨迹;其次,通过建立机器人支撑腿和摆动腿的几何模型,对前向、侧向运动中两条腿所涉及的10个自由度的运动进行规划;进一步,根据逆运动学求解各关节角的运动轨迹,利用仿真软件ADAMS建立仿真模型,并进行平地行走虚拟仿真。仿真结果验证了文中所采用的步态规划方法的可行性,同时也验证了机器人结构设计和电机选型的合理性,为机器人样机的研制提供了理论依据。
The motion of the humanoid robot on flat ground was mainly studied.Firstly, the motion trajectory of the center of gravity(COG) and the ankle of swinging leg was planned according to human structure and motion based on 2D inverted pendulum model. Then the motions of the 10 DOF of the legs were planned on forward and lateral movement after the geometric model of supporting leg and swinging leg was established. Moreover,the motion trajectory of each joint angle was solved by inverse kinematics. At last, a simulation model of the robot was built by ADAMS. Results show that it is feasible in gait planning and reasonable in structure design and motor selection, providing some references for the humanoid robot design.
引文
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