柯文德, 崔刚, 洪炳镕, 蔡则苏, 苑全德. 基于运动相似性的仿人机器人双足步行研究[J]. 机器人, 2010, 32(6): 766-772.
引用本文: 柯文德, 崔刚, 洪炳镕, 蔡则苏, 苑全德. 基于运动相似性的仿人机器人双足步行研究[J]. 机器人, 2010, 32(6): 766-772.
KE Wende, CUI Gang, HONG Bingrong, CAI Zesu, YUAN Qu. On Biped Walking of Humanoid Robot Based on Movement Similarity[J]. ROBOT, 2010, 32(6): 766-772.
Citation: KE Wende, CUI Gang, HONG Bingrong, CAI Zesu, YUAN Qu. On Biped Walking of Humanoid Robot Based on Movement Similarity[J]. ROBOT, 2010, 32(6): 766-772.

基于运动相似性的仿人机器人双足步行研究

On Biped Walking of Humanoid Robot Based on Movement Similarity

  • 摘要: 提出了一种基于人体步行运动相似性的仿人机器人双足步行动作设计方法.改进了人体步行轨迹的参数获取与相似性匹配系统,扩展了相似性函数的适用范围.根据仿人机器人的机械连杆特点定义了步行运动周期中的关键姿势与子相变换,建立了运动学约束方程,并对行走中出现的动态稳定性问题进行了约束.仿真和实体机器人实验验证了该方法的有效性.

     

    Abstract: A design method of biped walking actions of humanoid robot based on the movement similarity of human body is proposed.The system of parameter acquiring and similarity matching for human walking trajectory is improved,and the application range of similarity function is extended.The key postures and the sub-stage transformations during biped walking period are defined through the characteristics of mechanic chains of the humanoid robot,the constraint equations of movements are built,and the corresponding problems in the dynamic stabilization when walking are also restricted.The validity of this method is confirmed by simulation and actual robot experiment.

     

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