蔚伟, 包钢, 王祖温, 吴伟国. 基于腰关节力矩补偿的仿人机器人快速步行模式生成[J]. 机器人, 2010, 32(2): 219-225.
引用本文: 蔚伟, 包钢, 王祖温, 吴伟国. 基于腰关节力矩补偿的仿人机器人快速步行模式生成[J]. 机器人, 2010, 32(2): 219-225.
YU Wei, BAO Gang, WANG Zuwen, WU Weiguo. Fast Walking Pattern Generation for Humanoid Robot Using Waist Joint Moment Compensation[J]. ROBOT, 2010, 32(2): 219-225.
Citation: YU Wei, BAO Gang, WANG Zuwen, WU Weiguo. Fast Walking Pattern Generation for Humanoid Robot Using Waist Joint Moment Compensation[J]. ROBOT, 2010, 32(2): 219-225.

基于腰关节力矩补偿的仿人机器人快速步行模式生成

Fast Walking Pattern Generation for Humanoid Robot Using Waist Joint Moment Compensation

  • 摘要: 为了有效地提高仿人机器人动步行能力,利用基于预观控制的ZMP步态生成模式的优点并引入脚尖脚后跟与地面间的旋转关节,生成了机器人的质心和踝关节轨迹.同时,为了得到更快的步行速度,提出了侧向质心摆动幅度递减和腰关节偏摆力矩补偿的方法.最后在虚拟物理环境下,利用动力学仿真软件实现了虚拟3-D仿人机器人快速动步行.仿真结果证明了所采用方法的有效性.

     

    Abstract: In order to effectively improve humanoid robot's dynamic walking capability, COM (center of mass) and ankle trajectories are generated by taking advantages of the gait generation method based on ZMP (zero moment point) preview control and introducing the rotation about the front & rear edges of the stance foot. Furthermore, gradual decrease in the COM lateral swing amplitude and waist joint yaw moment compensation are used to get faster speed. Finally, the fast and dynamic walking of 3-D virtual humanoid prototype is realized in virtual physical environment by kinetic simulation software. The effectiveness of the proposed method is illustrated by simulation results.

     

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