CPG机理的双足机器人运动轨迹生成与分析

Motion Trajectory Generation and Analysis of Biped Robot Based on CPG Mechanism

目的在对中枢模式发生器(CPG)机理分析的基础上,生成关节运动轨迹,实现对双足机器人运动步态的控制。方法根据位姿矩阵实现对踝关节末端轨迹跟踪,整定CPG模型相位参数,利用节律信号输出叠加生成运动轨迹。通过联合仿真实验,对所规划的步态进行合理性、自稳定性和自适应性分析。结果生成的运动轨迹能够实现对双足机器人的行走步态控制。结论基于CPG生成的步态能够提高机器人的运动性能,具有更强的对复杂环境的适应性。生成的运动轨迹能够为双足机器人步态规划提供借鉴意义。

Objective Based on the analysis of the mechanism of the central mode generator(CPG),the trajectory of the joint was generated to control the gait of biped robot.Methods According to the pose matrix,the trajectory of the ankle joint was tracked.The phase parameters of the CPG model were adjusted and the motion trajectory was generated by superimposing the output of the rhythmic signal.The rationality,stability and adaptability of the proposed gait were analyzed by joint simulation experiments.Results The generated trajectory can realize the walking gait control of biped robot.Conclusions Gait generation based on CPG can improve the performance of robot and has more adaptability to complex environment.The generated trajectory can provide reference for gait planning of biped robot.