外骨骼助行机器人连续步态规划分析

Analysis of continuous gait planning for exoskeleton walking robot

外骨骼式下肢助行机器人的步态轨迹是当今研究的热点问题,稳定合理的步态运动是外骨骼有效辅助人体的基本保障。针对外骨骼式下肢助行系统的步态轨迹问题,基于零力矩点(ZMP)理论,采用五点规划法将人体步态划分为5个特殊姿态点,并求解相应的位置和角度坐标。利用MATLAB平台的三次样条插值函数模块,求解这些特殊点的三次样条曲线,仿真出髋关节和踝关节的轨迹曲线。最后根据ZMP动态轨迹方程,求解外骨骼系统的ZMP曲线,结果表明步态轨迹连续光滑,与理想的重心轨迹方向一致,符合外骨骼系统的轨迹路径要求。

The gait trajectory of the exoskeleton lower limb walking robot is a hot research issue.Reasonable gait movement is the basic guarantee for the lower limb exoskeleton to effectively assist the human body.For the study of gait trajectory,the human gait is divided into 5 special posture points by the five-point planning method according to the zero moment point(ZMP)theory,and the corresponding position and angle coordinates are solved.The manuscript employs a function module in MATLAB software to calculate the corresponding cubic spline curve of these special points,obtaining the trajectory curve of the hip joint and the ankle joint.Finally,according to ZMP dynamic trajectory equation,the ZMP trajectory curve of the lower limb exoskeleton is solved.The resulting curve is continuous and smooth,which is consistent with the ideal gravity center trajectory curve.These results meet the requirements of the human lower limb gait planning.