双足机器人平地行走步态规划的研究
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摘要
为了研究双足机器人平地行走过程中的步态规划问题,在二维倒立摆模型的基础上提出了周期、起步和止步三步规划法,并利用速度和位移约束实现了三个步行阶段的平稳过渡,利用倒立摆简化模型和五次样条多项式插值方法得到各个阶段质心和摆动腿踝关节的轨迹,再根据腿部关节转角简化模型利用几何法求得双足机器人的10个关节角运动轨迹;最后通过ZMP方程检验并在Matlab软件中仿真,验证步态规划的合理性并为机器人后续虚拟样机研制和仿真提供理论依据。
In order to study the gait planning problem of the biped robot in the process of horizontal walking,a three-step planning method of cycle,start and stop is proposed on the basis of the two-dimensional inverted pendulum model,and the smoothness of the three walking stages is realized by velocity and displacement constraints And the trajectories of the ankle joint of the stage are obtained by using the inverted pendulum simplification model and the pentagonal spline polynomial interpolation method. The geometric method is used to obtain the 10 joint angular trajectories of the biped robot Finally,the ZMP equation is tested and simulated in Matlab software to verify the rationality of gait planning and provide the theoretical basis for the subsequent development and simulation of robot virtual prototyping.
In order to study the gait planning problem of the biped robot in the process of horizontal walking,a three-step planning method of cycle,start and stop is proposed on the basis of the two-dimensional inverted pendulum model,and the smoothness of the three walking stages is realized by velocity and displacement constraints And the trajectories of the ankle joint of the stage are obtained by using the inverted pendulum simplification model and the pentagonal spline polynomial interpolation method. The geometric method is used to obtain the 10 joint angular trajectories of the biped robot Finally,the ZMP equation is tested and simulated in Matlab software to verify the rationality of gait planning and provide the theoretical basis for the subsequent development and simulation of robot virtual prototyping.
引文
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[4]余朝举.基于虚拟样机技术的双足步行机器人设计与研究[D].北京:北京邮电大学,2009.(Yu Zhao-ju.Design and research of a biped walking robot based on virtual prototype technology[D].Beijing:Beijing University of Posts and Telecommunications,2009.)
[5]卢嘉敏.双足机器人的步态规划和步行控制研究[D].广东:广东工业大学,2013.(Lu Jia-ming.Research on gait planning and walking control for biped robot[D].Guangdong:Guangdong University of Technology,2013.)
[6]棍田秀司.仿人机器人(管贻生,译)[M].北京:清华大学出版社,2007:99-105.(Shuuji Kajita.Humanoid Robots[M].Beijing:TsinghuaUniversity Press,2007:99-105.)
[7]付根平.仿人机器人的步态规划与步态控制研究[D].广州:广东工业大学,2013.(Fu Gen-ping.Research on gait planning and walking control for humanoid robot[D].Guangzhou:Guangdong University of Technology,2013.)
[8]王超.仿人双足机器人动步行步态规划理论研究[D].哈尔滨:哈尔滨工业大学,2010.(Wang Chao.Reaserch on theory for dynamic walking gait planning of biped robot[D].Harbin:Harbin Institute of Technology,2010.)
[9]邓欣.双足机器人步行稳定性研究[D].哈尔滨:哈尔滨工程大学,2007.(Deng Xin.Research on walking stability of biped robot[D].Harbin:Harbin Engineering University,2007.)
[10]付金海.仿人机器人机构设计与步行仿真[D].沈阳:东北大学,2010.(Fu Jin-hai.Mechanical design and walking simulation of humanoid robot[D].Shenyang:Northeastern University,2010.)
[2]Cruz R S N,Zannatha J M I.Efficient mechanical design and limit cycle stability for a humanoid robot:an application of genetic algorithms[J].Neurocomputing,2017(233):72-80.
[3]李晓慧.双足机器人步态规划及动态稳定性研究[D].沈阳:东北大学,2011.(Li Xiao-hui.Gait planning and dynamic stability study of biped robot[D].Shenyang:Northeastern University,2011.)
[4]余朝举.基于虚拟样机技术的双足步行机器人设计与研究[D].北京:北京邮电大学,2009.(Yu Zhao-ju.Design and research of a biped walking robot based on virtual prototype technology[D].Beijing:Beijing University of Posts and Telecommunications,2009.)
[5]卢嘉敏.双足机器人的步态规划和步行控制研究[D].广东:广东工业大学,2013.(Lu Jia-ming.Research on gait planning and walking control for biped robot[D].Guangdong:Guangdong University of Technology,2013.)
[6]棍田秀司.仿人机器人(管贻生,译)[M].北京:清华大学出版社,2007:99-105.(Shuuji Kajita.Humanoid Robots[M].Beijing:TsinghuaUniversity Press,2007:99-105.)
[7]付根平.仿人机器人的步态规划与步态控制研究[D].广州:广东工业大学,2013.(Fu Gen-ping.Research on gait planning and walking control for humanoid robot[D].Guangzhou:Guangdong University of Technology,2013.)
[8]王超.仿人双足机器人动步行步态规划理论研究[D].哈尔滨:哈尔滨工业大学,2010.(Wang Chao.Reaserch on theory for dynamic walking gait planning of biped robot[D].Harbin:Harbin Institute of Technology,2010.)
[9]邓欣.双足机器人步行稳定性研究[D].哈尔滨:哈尔滨工程大学,2007.(Deng Xin.Research on walking stability of biped robot[D].Harbin:Harbin Engineering University,2007.)
[10]付金海.仿人机器人机构设计与步行仿真[D].沈阳:东北大学,2010.(Fu Jin-hai.Mechanical design and walking simulation of humanoid robot[D].Shenyang:Northeastern University,2010.)