基于三维线性倒立摆的仿人机器人步态规划

doi:10.3724/SP.J.1087.2012.02643

计算机应用 ›› 2012, Vol. 32 ›› Issue (09): 2643-2647.DOI: 10.3724/SP.J.1087.2012.02643

基于三维线性倒立摆的仿人机器人步态规划

于国晨^1*,刘永信¹,李晓红²

1.内蒙古大学电子信息工程学院,呼和浩特 010021;
2.内蒙古财经大学职业学院,呼和浩特 010051

收稿日期:2012-03-07 修回日期:2012-05-24 发布日期:2012-09-01 出版日期:2012-09-01
通讯作者: 于国晨
作者简介:于国晨(1974-),男,内蒙古呼和浩特人,博士,主要研究方向:机器人运动控制; 刘永信(1955-),男,内蒙古呼和浩特人,教授,博士生导师,主要研究方向:模式识别、智能系统; 李晓红(1976-),女,内蒙古呼和浩特人,副教授,主要研究方向:金融理论。
基金资助:
国家科技部项目(2009GJA40047)

Humanoid robot gait planning based on 3D linear inverted pendulum model

YU Guo-chen^1*,LIU Yong-xin¹,LI Xiao-hong²

1.College of Electronic Information Engineering,Inner Mongolia University,Hohhot Inner Mongolia 010021,China;
2.Finance and Vocational College,Inner Mongolia University of Finance and Economics,Hohhot Inner Mongolia 010051,China

Received:2012-03-07 Revised:2012-05-24 Online:2012-09-01 Published:2012-09-01

摘要/Abstract

摘要： 为了实时调整仿人机器人的步态,提出一种仿人机器人的步态生成方法。把机器人运动简化为三维线性倒立摆运动模式,通过预先规划好的零力矩点(ZMP)轨迹,根据质心(CoM)和ZMP的关系,求出CoM轨迹;再将前向步态和侧向步态简化为七连杆结构和五连杆结构,利用三角定理求出各个关节的角度,结合ZMP方程讨论了行走过程中的稳定性。利用给定的条件进行了系统的仿真,并结合实际系统及其运行状况进行分析,验证了所提出规划方法的有效性。

关键词: 仿人机器人, 三维线性倒立摆, 零力矩点, 质心, 步态规划

Abstract: In order to real-time adjust the humanoid robot gait, a humanoid robot gait generation method was proposed. The robot motion was simplified to the inverted pendulum motion of the three-dimensional linear model, and passed the pre-planned Zero Moment Point (ZMP) trajectory. According to the Center of Mass (CoM) and ZMP relations, the CoM trajectory was obtained. The front side gait and lateral gait were simplified into seven-link and five-link structures, the triangle theorem was used to calculate the angle of each joint, and the ZMP equation was introduced to discuss the stability of the walking process. The system simulation was done according to given conditions and combined with the actual system and its operation conditions were analyzed to verify the validity of the proposed planning method.

Key words: humanoid robot, 3D linear inverted pendulum, Zero Moment Point (ZMP), Center of Mass (CoM), gait planning

中图分类号:

TP242

于国晨刘永信李晓红. 基于三维线性倒立摆的仿人机器人步态规划[J]. 计算机应用, 2012, 32(09): 2643-2647.

YU Guo-chen LIU Yong-xin LI Xiao-hong. Humanoid robot gait planning based on 3D linear inverted pendulum model[J]. Journal of Computer Applications, 2012, 32(09): 2643-2647.

参考文献

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基于三维线性倒立摆的仿人机器人步态规划

Humanoid robot gait planning based on 3D linear inverted pendulum model

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