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基于腰关节力矩补偿的仿人机器人快速步行模式生成 被引量：3

Fast Walking Pattern Generation for Humanoid Robot Using Waist Joint Moment Compensation
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摘要 为了有效地提高仿人机器人动步行能力,利用基于预观控制的ZMP步态生成模式的优点并引入脚尖脚后跟与地面间的旋转关节,生成了机器人的质心和踝关节轨迹.同时,为了得到更快的步行速度,提出了侧向质心摆动幅度递减和腰关节偏摆力矩补偿的方法.最后在虚拟物理环境下,利用动力学仿真软件实现了虚拟3-D仿人机器人快速动步行.仿真结果证明了所采用方法的有效性. In order to effectively improve humanoid robot＇s dynamic walking capability, COM （center of mass） and ankle trajectories are generated by taking advantages of the gait generation method based on ZMP （zero moment point） preview control and introducing the rotation about the front ＆ rear edges of the stance foot. Furthermore, gradual decrease in the COM lateral swing amplitude and waist joint yaw moment compensation are used to get faster speed. Finally, the fast and dynamic walking of 3-D virtual humanoid prototype is realized in virtual physical environment by kinetic simulation software. The effectiveness of the proposed method is illustrated by simulation results.
作者 蔚伟 包钢 王祖温 吴伟国
机构地区 哈尔滨工业大学机电学院 大连海事大学轮机工程学院
出处 《机器人》 EI CSCD 北大核心 2010年第2期219-225,共7页 Robot
基金 国家863计划资助项目(2006AA04Z201)
关键词 仿人机器人 步态生成 快速步行 力矩补偿 humanoid robot walking pattern generation fast walking moment compensation
分类号 TP241.3 [自动化与计算机技术—检测技术与自动化装置]
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参考文献16

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同被引文献32

  • 1付根平,杨宜民,黄春林.基于粒子群优化算法的双足机器人步态优化[J].华中科技大学学报（自然科学版）,2011,39(S2):355-358. 被引量：10
  • 2闵颖颖,刘允刚.Barbalat引理及其在系统稳定性分析中的应用[J].山东大学学报（工学版）,2007,37(1):51-55. 被引量：104
  • 3棍田秀司.仿人机器人[M].北京:清华大学出版社,2007.
  • 4Vukobratovic M, Borovac B. Zero-moment point - Thirty five years of its life[J]. International Journal of Humanoid Robotics, 2004, 1(1): 157-173.
  • 5Kim J Y, Park I W, Oh J Y. Walking control algorithm of biped humanoid robot on uneven and inclined floor[J]. Journal of In- telligent and Robotic Systems, 2007, 48(4): 457-484.
  • 6Chestnutt J, Lau M, Cheung G, et al. Footstep planning for the Honda ASIMO humanoid[C]//IEEE International Confer- ence on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2005: 629-634.
  • 7Akachi K, Kaneko K, Kanehira N, et al. Development of hu- manoid robot HRP-3P[C]//IEEE/RAS International Conference on Humanoid Robots. Piscataway, NJ, USA: IEEE, 2005: 50- 55.
  • 8Smolar P, Tuhfirsky J, Fedor Z, et al. Development of cognitive capabilities for robot Nao in Center for Intelligent Technologies in Kosice[C]//2nd International Conference on Cognitive Info- communications. Piscataway, NJ, USA: IEEE, 2011: 1-5.
  • 9Kim S, Kim C H, You B, et al. Stable whole-body motion generation for humanoid robots to imitate human motions[C]// IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ, USA: IEEE, 2009:2518-2524.
  • 10Xing D P, Su J B. Arm/trunk motion generation for humanoid robot[J]. Science in China, Series F: Information Sciences, 2010, 53(8): 1603-1612.

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机器人
2010年 第2期

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