Motion Planning of Humanoid Robot for Obstacle Negotiation

The motion planning for obstacle negotiation by humanoid robot BHR-2 through stepping over or stepping on/off the wide and flat obstacle at known locations is presented. In the trajectory generation method, first the constraints of the foot motion parameters which include obstacle dimensions and the distance of obstacle from the humanoid robot is formulated. By varying the values of the constraint parameters, different types of foot motion for different obstacles can be produced. In this method, first the foot trajectory is generated, and then the waist trajectory is computed by using cubic spline interpolation without first calculating the zero moment point （ZMP） trajectory . The dynamic stability during the execution of stepping over and stepping on/off trajectories are ensured by incorporating the ZMP criterion. The effectiveness of the proposed method is confirmed by simulations and experiments on humanoid robot BHR-2.

闭链弓形五连杆越障能力分析与运动规划

为了考察闭链弓形五连杆的地形适应性,分析其越障能力并对越障过程进行运动规划。建立闭链弓形五连杆质心运动学分析模型,利用齐次变换推导了杆系质心坐标关于接触角和主动关节角的表达式。通过分析越障过程中的运动约束和几何约束,建立最大越障高度的数学模型,利用数值算法获得了最大越障高度随接触角和关节圆半径的变化曲线。根据质心可行域边界曲线内凹的特点,依照行程最短策略采用切线法来规划越障过程中系统质心运动路径,进而利用运动学逆解得到主动关节轨迹。通过样机试验验证了分析结果的正确性。

6-URU支链四面体移动机构的越障步态规划

针对多面体机器人的高地面适应性需求,提出一种适用于四面体移动机构的高质心攀爬越障方法,能够通过三自由度同步变形提升质心高度有效提升攀爬能力。首先,基于四面体移动机构的支撑区域对其移动轨迹进行三角形网格划分,在台阶障碍进行投影畸变,由此规划出该机构针对台阶障碍的分步越障阶段,通过构造凹多面体包附障碍提升攀爬高度。针对高质心攀爬步态的各个阶段分别建立临界状态运动学模型,通过齐次变换矩阵得到机构质心坐标关于障碍高度和障碍距离的表达式,根据数值算法得到最大越障高度随驱动角和障碍距离的变化曲线,执行至不同障碍阶段以实现不同高度障碍的越障攀爬。建立仿真模型,验证越障分析过程合理性。制作一台样机,对高质心攀爬越障步态进行可行性验证。