魏航信, 刘明治. 仿人型跑步机器人矢状面跑步运动的实现[J]. 机器人, 2006, 28(1): 5-9.
引用本文: 魏航信, 刘明治. 仿人型跑步机器人矢状面跑步运动的实现[J]. 机器人, 2006, 28(1): 5-9.
WEI Hang-xin, LIU Ming-zhi. Realization of Running for Humanoid Running Robot in Sagittal Plane[J]. ROBOT, 2006, 28(1): 5-9.
Citation: WEI Hang-xin, LIU Ming-zhi. Realization of Running for Humanoid Running Robot in Sagittal Plane[J]. ROBOT, 2006, 28(1): 5-9.

仿人型跑步机器人矢状面跑步运动的实现

Realization of Running for Humanoid Running Robot in Sagittal Plane

  • 摘要: 基于“虚拟腿”的概念,提出了一种新的方法实现仿人型跑步机器人在矢状面内的跑步运动.首先,规划机器人质心的轨迹;在起跳阶段通过求解“虚拟腿”的二自由度动力学方程,规划机器人质心的轨迹;在飞行阶段机器人质心做自由落体运动.然后,对机器人双脚的运动和上臂的运动进行规划,采用牛顿—拉斐逊法求解非线性方程组得到机器人在每个时刻的运动学参数.最后,根据动力学方程求出各个关节的驱动力矩.仿真实验结果表明:机器人跑步时各个关节角度和关节驱动力矩变化平稳,运动稳定裕度大,机器人可以实现1.2m/s的跑步速度,因此机器人的跑步动作设计合理.

     

    Abstract: A new method based on the "virtual leg" is presented which can realize the running of humanoid running robot in sagittal plane.Firstly,the trajectory of center of mass(COM) of the robot is planned by solving the two dimensional dynamic equations of "virtual leg" in jumping phase,and the COM of robot moves like a free falling body in the air in flight phase.Then the trajectories of two feet and two arms are planned,and the kinematic parameters are calculated by solving the nonlinear equations set with Newton-Raphson algorithm.Finally,torque of each joint is achieved according to the dynamic equation.The simulation results show that the angle and torque of each joint change smoothly and the stability margin is high.The running robot can run at a speed of 1.2m/s in horizontal direction.So the running of the robot is designed rationally.

     

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