双足机器人下楼梯动作的设计与生成

Action Design and Generation of a Biped Robot Descending Stairs

上下楼梯是人们典型,常见的动作,研究其动作生成算法是实现稳定步态的重要保证;以双足机器人为研究对象,以下楼梯动作为例,基于重复变换的上体重心移动法提出双足机器人下楼梯动作的设计方法;通过仿真生成了3种典型模式的下楼梯动作过程,评价了下楼梯过程中各关节的角度变化,力矩变化和稳定性,讨论了楼梯参数变化对机器人各关节负担的影响;仿真结果表明,通过改变下楼梯的方式,可以减轻下楼梯对腿部损伤关节的负担,提高安全性,实现稳定的下楼梯动作;为福祉,康复医疗教育提供依据。

As ascending and descending stairs are typical and common actions of human,it is essential to study the algorithm of action generation of walking stairs so that steady gait can be solidly performed.Taking biped robot as research object,and descending stairs motion as example,an action generation approach based on upper body gravity move method under the principle of repeatedly direct kinematics（RDK）,is proposed.Through simulating three typical modes of descending stairs,variations of angle and torques at each joint and the stability of this approach are evaluated.Also the impact of stair parameters on load of robot＇s joints is discussed.The simulation shows that changing the modes of descending stairs can reduce load on injured leg joints,improve safety,and achieve stable action of descending stairs.The result provides a basis for health care and medical education.