论文部分内容阅读
为研究仿人机器人的平地行走运动,首先,根据人体结构特点和运动特征,并基于二维倒立摆原理,规划机器人平地行走过程中质心和摆动腿踝关节的运动轨迹;其次,通过建立机器人支撑腿和摆动腿的几何模型,对前向、侧向运动中两条腿所涉及的10个自由度的运动进行规划;进一步,根据逆运动学求解各关节角的运动轨迹,利用仿真软件ADAMS建立仿真模型,并进行平地行走虚拟仿真。仿真结果验证了文中所采用的步态规划方法的可行性,同时也验证了机器人结构设计和电机选型的合理性,为机器人样机的研制提供了理论依据。
In order to study the walking motion of the humanoid robot on the ground, the trajectory of the center of mass and the swinging leg ankle should be planned according to the structural features and movement characteristics of the human body and the principle of two-dimensional inverted pendulum. Secondly, The geometric model of the leg and the swinging leg is used to plan the motion of 10 degrees of freedom involved in the two legs in the forward and lateral movements. Further, the motion trajectory of each joint angle is solved according to the inverse kinematics, and the simulation software ADAMS is used to establish Simulation model, and virtual simulation of walking. The simulation results verify the feasibility of the proposed gait planning method, and also verify the rationality of robot structure design and motor selection, which provides a theoretical basis for the development of robot prototype.