摘要
为实现双足机器人步行运动,提出了一种双足机器人平地行走步态规划算法并对其进行动力学仿真验证。首先利用二维倒立摆模型以及五次多项式分别对机器人质心、踝关节运动轨迹进行规划,再通过建立机器人运动状态几何模型,对运动过程中机器人腿部关节运动轨迹进行规划,得到关节角运动轨迹,借助MATLAB仿真获取机器人下肢各个关节运动曲线。然后利用动力学仿真软件Adams对虚拟样机进行仿真,实现了机器人虚拟环境下的平地稳态行走,仿真验证了步态规划算法的可行性。
In order to realize the walking motion of biped robot,a walking gait planning algorithm for bipedal robot was proposed and its dynamic simulation was performed.First using two-dimensional inverted pendulum model and five times polynomial respectively centroid,ankle joint trajectory planning of robot,and then through the establishment of robot motion geometric model,in the process of motion robot leg joint trajectory planning,for joint Angle trajectory,with the help of MATLAB simulation for robot each joint movement curve of lower limbs.Then,the dynamic simulation software Adams was used to simulate the virtual prototype,and the steady walking of the flat ground in the virtual environment of the robot was realized.The simulation verified the feasibility of the gait planning algorithm.
作者
唐火红
丁婧
严启凡
TANG Huo-hong;DING Jing;YAN Qi-fan(School of Mechanical Engineering,Hefei University of Technology,Anhui Hefei230009,China;Institute of Intelligent Manufacturing,Jiangsu Industrial Technology Research Institute,Jiangsu Nanjing211800,China)
出处
《机械设计与制造》
北大核心
2020年第4期248-252,257,共6页
Machinery Design & Manufacture
基金
国防科技创新特区《高越障性仿生机器人系统设计与综合集成》(合同编号:17-163-12-ZT-004-014-01)。
