物理与运动约束驱动的摆腿动作求解

Solution for swing leg locomotion driven by physical and kinematic constraints

文章提出了一种基于物理与运动学约束的摆腿运动生成方法。首先,从物理学角度分析,建立能量最优和连续原则,推导出摆腿运动耗能的主要因素;其次,根据运动学原理,将摆腿区间标记为起脚态、摆动态、落脚态3个可重叠状态,并提取5个关键时刻作为求解摆腿运动的关键帧;最后,通过地形适应规则,求解关键帧下的腿部姿态,以能耗分析为依据,生成二阶连续的腿部运动。通过原型实验和在低维物理模型中应用该模型,证明只需要设定极少的参数,该方法即可直接实时生成任意腿部的地形自适应摆腿运动,并且所生成的运动连续流畅。

A novel solution for swing leg motion generation based on physical and kinematic constraints is proposed.Firstly,from the perspective of physics,energy optimization and continuity policies are proposed for deducting main factors of energy cost of leg animation in swing phase.Secondly,based on kinematic theories,one swing phase is tagged as three states named lifting,swinging and striking,and five key frames are picked up for the solution of swing motion.Finally,postures of key frames are calculated according to terrain-adaptive rules,and based on the analyses of energy cost,leg motions with second-order continuity are generated.Results of the experiments in prototype system and the application in low-dimensional physical model demonstrate that with few parameters,the proposed method is able to generate smooth,continuous and terrain-adaptive swing motions for legs in any structures.