| 给定手部作业轨迹的仿人机器人推操作研究 |
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| 引用本文： | 肖涛,黄强,杨洁,余张国,张伟民.给定手部作业轨迹的仿人机器人推操作研究[J].机器人,2008,30(5):1. |
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| 作者姓名： | 肖涛 黄强 杨洁 余张国 张伟民 |
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| 作者单位： | 1. 中国空间技术研究院北京空间飞行器总体设计部,北京,100094
2. 北京理工大学宇航科学技术学院智能机器人研究所,北京,100081 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 以推车作业为例对“汇童”仿人机器人动态行走中的推操作进行了研究，分析了手部位置与腰部位
移的关系，对作业运动中手部轨迹的补偿进行了研究．另外，作业中机器人与车之间存在相互作用，根据作业的
期望作用力，开展了基于ZMP 稳定性判据的作业运动稳定性控制研究．仿真和实验验证了该方法的有效性，它能
满足推车作业手臂操作性和运动稳定性要求．
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| 关 键 词： | 仿人机器人 推操作 手臂操作性 作业稳定性 |
Research on Pushing Operation by Humanoid Robot under Certain Hand Manipulation Trajectory |
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| XIAO Tao,HUANG Qiang,YANG Jie,YU Zhang-guo,ZHANG Wei-min.Research on Pushing Operation by Humanoid Robot under Certain Hand Manipulation Trajectory[J].Robot,2008,30(5):1. |
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| Authors: | XIAO Tao HUANG Qiang YANG Jie YU Zhang-guo ZHANG Wei-min |
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| Affiliation: | XIAO Tao~1 HUANG Qiang~2 YANG Jie~2 YU Zhang-guo~2 ZHANG Wei-min~2 (1.Beijing Institute of Spacecraft System Engineering,China Academy of Space Technology,Beijing 100094,China,2.Intelligent Robotics Institute,School of Aerospace Science , Engineering,Beijing Institute of Technology,Beijing 100081,China) |
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| Abstract: | Taking pushing a handcart as an example,pushing operation by humanoid robot BHR-2 during dynamic walking is studied.The relationship between hand position and waist displacement is analyzed and the compensation for hand manipulation trajectory during the manipulation motion is studied.In addition,there is interaction between the robot and the handcart,so stability control for the manipulation motion based on ZMP(zero moment position)criterion is studied considering the desired pushing force.The validity of ... |
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| Keywords: | humanoid robot pushing operation arm manipulability motion stability |
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