小型仿人机器人的设计及步态规划

Design of small biped robot and its gait planning

针对现有仿人形机器人造价高的缺点,设计一款低成本的小型双足机器人研究平台。根据人类步行过程及人体生理结构,依据模糊控制与专家控制相结合的理论提出一种简单的双足机器人模型,并根据仿生学原理确定机器人的自由度配置及各关节的比例尺寸。然后,利用目前通用的行为规划软件对双足机器人步态规划进行仿真,并在平坦地面上进行相应行走试验。实验证明,根据人行走模式对机器人进行步态规划的算法稳定可行,为机器人的教学和科研提供了良好的实验平台。

Aiming at the present high cost humanoid robot,a low cost small biped robot research platform is designed in this paper.According to the humanoid walking and the physiological structure of human body,combing the expert control and illegible control,a simple biped robot model is presented.And the assignation of the freedom of motion and the scale of every ankle of the robot are confirmed according to the principle of bionics.Then the universal motion editor emulates the gait planning of the robot,and makes an experiment on the flat ground.The test results prove that the arithmetic of using humanoid walking model is feasible.It suppies a good experiment platform for robot teaching and scientific research.