摘要
提出一种仿人机器人跑步运动仿真的新方法。首先建立惯性坐标系、参考坐标系和物体坐标系,在此基础上对机器人进行运动学分析。针对跑步机器人在起跳阶段和飞行阶段存在不同约束的特点,采用拉格朗日动力学方法建立机器人跑步的变拓扑结构动力学方程,并对机器人脚着地时冲击现象进行分析。在跑步运动规划的基础上根据运动学和动力学分析给出机器人跑步运动仿真的算法。最后对一个跑步动作进行仿真,实现了前向速度为1.2m/s的跑步动作,证明了这种方法的有效性。
A new method was proposed which could simulate the running of humanoid robot. Firstly, the inertia coordinates, reference coordinates and body coordinates were built so that the kinematics analysis could be made for the robot. Aiming at the characteristics which there exists the different kinematics constraint during the stance phase and the flight phase, the dynamic equations with changing topologies of the running robot was derived by using the Lagrange method. Then the collision analysis was made when the foot of the robot was in contact with the ground. Next the simulation algorithm was given based on the motion planning, the kinematics analysis and dynamics analysis. Finally, simulation was made for the robot which could run at the speed of 1.2m/s in forward direction. So it proves the effectiveness of the method.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2007年第2期396-399,共4页
Journal of System Simulation
基金
高等学校博士学科点基金(K0140104)。
