摘要
提出一种人形跑步机器人逆运动学的分析方法。由于机器人在跑步时存在一个双脚离地的腾空阶段,因此建立了惯性坐标系、参考坐标系和物体坐标系,用来确定机器人身体各个部分的相对位置。采用齐次坐标转换矩阵分析机器人质心和双脚轨迹与机器人各个关节角度、角速度、角加速度等的关系,并用Newton-Raphson方法根据机器人质心轨迹和双脚轨迹计算出各个关节的运动参数,完成逆运动学分析。并通过算例验证这种方法的有效性。
An analysis method of inverse kinematics for humanoid running robot was proposed. Inertia coordinates, reference coordinates and body coordinates were built to determine relative position of each part on body of the robot since there was a flight phase of two feet lifting off ground while it was running. By using homogeneous transformation matrix, the relationships between the center of mass （COM） of the robot with trajectories of two feet and each joint angle, angular velocity, angular acceleration were analyzed. The Newton-Raphson algorithm was used to calculate the kinematic parameters of each joint according to the trajectories of COM of the robot and its two feet. So the inverse kinematics analysis was accomplished. A simulation was made to verify effectiveness of the method.
出处
《机床与液压》
北大核心
2011年第3期107-109,113,共4页
Machine Tool & Hydraulics
基金
高等学校博士学科点基金项目(K0140104)
关键词
人形机器人
跑步
运动学
Humanoid robot
Running
Kinematics
