摘要
载人两足步行机器人是一种为残疾人设计,用来替代轮椅和假肢的新型步行机器人。由于其关节自由度较多,可以通过自身的调节来保持纵向及横向的平衡,从而保证动态步行的平稳,但也因此使得零力矩点(ZMP)的计算上出现耦合现象,为ZMP轨迹的精确规划带来困难。从重心的轨迹入手,通过约束重心z向坐标实现载人两足步行机器人纵向与横向的分离,进而以重心的轨迹为基础,确定了机器人行走姿态,并通过简化模型计算支撑脚关节扭矩来评估步态规划的正确性与合理性。
Biped walking-chair robot is a new type of biped robot designed for the disable man to replace traditional wheelchairs. Because it has more degrees of freedom. Biped walking-chair robot can keep portrait and landscape balance by adjust its joints and insure a smooth dynamic walk, but this also bring coupling into calculation of ZMP and make it difficult to plan the locus of ZMP exactly. This paper starts with the locus of barycentre, separates portrait and landscape of biped walking-chair robot by restrict z-coordinates of barycentre, and plan the gait based on the locus of barycentre, finally calculate the torque of joints of the supported leg with a simplified model to evaluate the correctness and rationality of gait planning.
出处
《机电工程》
CAS
2006年第2期48-52,共5页
Journal of Mechanical & Electrical Engineering
基金
科技部中德合作重点资助项目(2003DF000017)
