摘要
在双足机器人HEUBR_1的设计中,下肢采用了一种新的串并混联的仿人结构,并在足部增加了足趾关节。为验证该仿人结构设计的合理性及拟人步态规划的可行性,在ADAMS虚拟环境中建立了双足机器人HEUBR_1的仿真模型。通过拟人步态规划生成了运动仿真数据,在ADAMS虚拟环境中实现了具有足趾运动的拟人稳定行走,经仿真分析,获得了双足机器人HEUBR_1拟人行走步态下的运动学和动力学特性,仿真结果表明:双足机器人HEUBR_1的串并混联的仿人结构设计能够满足行走要求,且拟人步态规划方法可行,有足趾运动的拟人行走具有运动平稳、能耗低、足底冲击力小的特点。稳定行走的仿真步态数据可为下一步双足机器人HEUBR_1样机行走实验提供参考数据。
In the design of biped robot HEUBR - 1, a new structure with tandem and parallel connection in lower - limbs is used, and the toe - joint is added to foot. In order to verify the rationality of humanoid structure design and feasibility of the humanoid gait planning, the paper set up a simulation model of biped robot HEUBR - 1 using dynamic software ADAMS. Using the motion data exported by humanoid gait planning, the simulation model of biped robot HEUBR- 1 walked stably with toe -joint in fictitious surrounding. Through humanoid gait simulation, the biped robot kinematic and dynamical characteristics were obtained. Simulation indicated that： the structure with tandem and parallel connection is rational ; the method of humanoid gait planning is feasible. Humanoid walking with toe - joint has following characteristics ： balanced motion, lower energy and small impact in foot. Simulated data of steady walking can be used as reference for further biped robot HEUBR - 1 walking experiment.
出处
《计算机仿真》
CSCD
北大核心
2009年第3期160-164,182,共6页
Computer Simulation
