给定手部作业轨迹的仿人机器人推操作研究

Research on Pushing Operation by Humanoid Robot under Certain Hand Manipulation Trajectory

  • 摘要: 以推车作业为例对“汇童”仿人机器人动态行走中的推操作进行了研究,分析了手部位置与腰部位移的关系,对作业运动中手部轨迹的补偿进行了研究.另外,作业中机器人与车之间存在相互作用,根据作业的期望作用力,开展了基于ZMP稳定性判据的作业运动稳定性控制研究.仿真和实验验证了该方法的有效性,它能满足推车作业手臂操作性和运动稳定性要求.

     

    Abstract: Taking pushing a handcart as an example,pushing operation by humanoid robot BHR-2 during dynamic walking is studied.The relationship between hand position and waist displacement is analyzed and the compensation for hand manipulation trajectory during the manipulation motion is studied.In addition,there is interaction between the robot and the handcart,so stability control for the manipulation motion based on ZMP(zero moment position)criterion is studied considering the desired pushing force.The validity of the method is demonstrated by simulation and experiment.The arm manipulability and motion stability for pushing operation are achieved.

     

/

返回文章
返回