拟人机器人矢状面跑步运动规划

Running motion planning for the humanoid robot in the sagittal plane

基于“虚拟腿”的概念,提出了一种新的方法实现拟人跑步机器人在矢状面内的跑步运动.首先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按照自由落体运动;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,可实现1.2 m/s前向的跑步速度.

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