摘要
以仿人机器人动力学方程为基础,采用"虚拟腿"的方法,实现仿人跑步机器人三维方向的跑步动作。在起跳阶段通过求解"虚拟腿"的二自由度动力学方程,确定机器人质心的轨迹,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,通过机器人动力学方程求解各个关节的力矩。最后通过调节机器人在起跳阶段最初时刻"虚拟腿"和铅垂线的夹角控制机器人的跑步速度。仿真结果表明,机器人可以实现稳定的跑步动作,并可以很方便地对前向跑步速度进行控制,证实了文中所介绍方法的有效性。
A method based on the dynamic equation of the humanoid robot and the virtual leg＇ is presented which can realize the running of humanoid robot in three dimensions. In stance phase, the trajectory of center of mass （COM） of the robot is determined by solving the two dimensional dynamic equations of virtual leg＇, and the COM of robot moves like a free falling body in the air in flight phase. Then the trajectory of two feet and two arms are planned following the driving torque of each joint calculated by solving the dynamical equations of the robot. Finally, the running speed of the robot is controlled by adjusting the angle between the virtual leg＇ and the vertical line at the beginning of the stance phase. The simulation results show that the robot can run stably and the speed of the robot can be controlled conveniently and also verify the validity of the method.
出处
《机械设计与研究》
CSCD
北大核心
2008年第6期39-41,63,共4页
Machine Design And Research
基金
高等学校博士点基金资助项目(K0140104)
