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采用小车-曲面桌子模型,提出了一种仿人机器人跑步运动轨迹生成方法.针对仿人机器人在单腿支撑阶段和飞行阶段不同的运动方式,分别规划仿人机器人的质心轨迹,在单腿支撑阶段,求解根据小车-曲面桌子模型建立的动力学方程,规划出机器人的质心轨迹;在飞行阶段,仿人机器人质心作抛物线运动.采用3次插值方法规划双足在不同阶段的轨迹.仿真实验结果表明:仿人机器人能够实现稳定的跑步运动,验证了方法的有效性.
A car-surface table model is proposed to generate a trajectory of humanoid robot’s running trajectory.Aiming at the different movement modes of humanoid robot in the single-legged support phase and the flight phase, the trajectories of the centroid of the humanoid robot are respectively planned, Stage, solving the dynamic equation established by the car-surface table model, and planning the trajectory of the robot’s centroid.In the flight phase, the centroid of the humanoid robot acts as a parabola, and the trajectory of the two feet at different stages is planned by the cubic interpolation method. The results show that the humanoid robot can achieve stable running motions and verify the effectiveness of the method.