弹性变形对仿人机器人步态规划的影响分析

Analysis of Elastic Deformation Effect on Gait Planning of Humanoid-Robot

仿人机器人行走步态研究的理论、方法及建模均未考虑系统各部件弹性变形的影响 ,导致行走实验结果与理论步态规划存在较大的差异 ,制约了步行质量的提高和连续快速稳定步行的实现。本文运用ANSYS有限元软件 ,针对清华大学研制的THBIP -I型仿人机器人样机 ,建立精确的有限元模型 ,进行步行运动弹性变形及其对步态规划影响的有限元仿真分析 ,在此基础上提出了对步态规划进行局部修正完善的方法 ,步行实验证明该有限元模型及仿真分析结果是有效的。

The theory and method and modeling of gait research on humanoid-robot did not calculate the effect of elastic deformation of parts, which made the results of locomotion experiments some different from the theoretic gait planning. So these constrained the improvement of locomotion quality and the realization of fast and stable locomotion. In this paper, aimed at the THBIP-I biped humanoid-robot developed by Tsinghua University, the author built a precise FEA model in ANSYS software, and simulated and analyzed the elastic deformation in biped locomotion and its effect on gait planning. Based on these, the author brought forward methods to improve the gait planning in part. The locomotion experiments show that the FEA model and its simulation and analysis results are effective.