摘要
应用仿真技术来设计和定义类人机器人,有助于对机器人运动的研究,也方便了整体系统的开发与实现。提出了用具有树特征的图结构定义类人机器人数据结构的方法,应用深度优先搜索算法对其进行遍历,并用螺旋理论和链乘法则来描述机器人的姿态,构建出基于Matlab软件的仿真平台。该平台引用零力矩点ZMP理论作为机器人动态行走的稳定约束,并依此进行步态规划,得到稳定合理的步行姿态,同时实现了运动控制上的可视化。
Applying simulation technology to the design and definition of a humanoid robot can help study the motions of the robot and facilitate the exploitation and implement of the holistic system.This paper advances a method of defining the data structure of humanoid robot as graphs which have characteristics of trees,applying depth-first search algorithm to traverse it and using screw theory and chain of multiplication to describe the robot′s postures.The simulation platform is specially designed based on Matlab.The platform utilizes zero moment point（ZMP） theory as the stability constraint of the robot′s dynamic walking and plans the gaits accordingly.In addition,the motion control of the robot is visualized.
出处
《机械科学与技术》
CSCD
北大核心
2011年第5期703-707,共5页
Mechanical Science and Technology for Aerospace Engineering
