| 单腿跳跃机器人轨迹规划 |
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| 引用本文： | 王申江,郭祖华. 单腿跳跃机器人轨迹规划[J]. 中国机械工程, 2015, 26(17): 2330-2335 |
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| 作者姓名： | 王申江 郭祖华 |
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| 作者单位： | 北京航空航天大学,北京，100191 |
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| 摘 要： | 将单腿跳跃机器人简化成一个三杆模型，研究机器人跳跃过程中各个关节的运动轨迹问题，并在总结跳跃过程现有轨迹规划方法的基础上，运用参数化优化方法实现关节空间的轨迹规划，优化目标为机器人关节的控制势最小。将跳跃过程分解成开始段、腾空段、站立段和结束段，并对各段的关节轨迹分别优化，最后得到从静止状态开始起跳到着地后恢复至静止状态的整个跳跃过程的关节轨迹。
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| 关 键 词： | 跳跃机器人 ZMP 优化 轨迹规划 |
Trajectory Planning for an One-legged-hopper Robot |
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| Wang Shenjiang,Guo Zuhua. Trajectory Planning for an One-legged-hopper Robot[J]. China Mechanical Engineering, 2015, 26(17): 2330-2335 |
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| Authors: | Wang Shenjiang Guo Zuhua |
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| Affiliation: | Beijing University of Aeronautics and Astronautics,Beijing,100191 |
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| Abstract: | An one-legged-hopper robot was simplified into a three-linkage model herein. The joints' trajectory planning problem was studied during jumping motion. After summarizing the current trajectory planning methods of hopper robot, a parameteric optimization method was adopted in the research to minimize the control effort of robot joints. The jump motion was decomposed into four phases: starting phase, flight phase, stance phase and stopping phase. Joint trajectories of each segment were planned by optimization separately. Finally trajectories for all joints were obtained during the whole jumping motion that the robot moved from static stand upright state to next static stand state. |
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| Keywords: | hopper robot zero moment point(ZMP) optimization trajectory planning |
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