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提出了仿人机器人双臂和躯干运动的两种规划方法用以补偿机器人运动过程中产生的自转转矩,进而提高系统运动稳定性.分析了运动中地面对机器人的作用力矩和双臂摆动对身体运动产生的影响.以补偿自转转矩为目标,规划了躯干自转补偿和双臂摆动补偿两种运动方式.以能量消耗为评价函数对这两种方法进行了比较,验证了两种方法的性能和可行性.
Two planning methods of humanoid robot arms and torso motion are proposed to compensate for the rotation torque generated by the robot during the movement and to improve the stability of the system.Analyzed the interaction between the robot’s moment and the arm swing On the body movement impact.To compensate for the rotation torque as the goal, the planning of the torso rotation compensation and arm swing compensation two kinds of movement modes.With the energy consumption as the evaluation function of these two methods were compared to verify the two methods Performance and feasibility.