以人体运动为参照的仿人机器人设计参考准则

为解决仿人机器人设计以经验设计或运动仿真验证为主，尚不存在以人类自身为参照，考虑走跑跳等多种运动行为要求下的初始设计方法问题，对人体多种运动行为进行运动捕捉与足底力测量，选择人体运动过程中关节力矩和关节功率作指标表征仿人机器人应达到的极限驱动能力。利用PhaseSpace三维运动捕捉系统和自行研制的至少5倍于体重的大量程集成化测力鞋系统对6名成年男性进行了走跑跳等运动行为的运动捕捉与足底力的测量实验，根据得到的149组实验数据，分析总结人体走、跑、跳等运动行为特征；采用牛顿-欧拉法对人体下肢机构进行逆动力学计算，用多元非线性拟合法拟合计算结果得到了各关节最大驱动力矩及功率方程式。综合归纳给出了不同运动方式下仿人机器人设计参考准则，为走跑跳等多运动方式仿人机器人的设计提供了参考。

Design reference guidelines for humanoid robot based on human motion

To solve the problems that humanoid robot design is mainly based on empirical design or motion simulation verification and the initial design method under the requirement of various motion behaviors such as walking, running and jumping with reference to human itself does not exist yet, in this paper, motion capture and plantar force measurements are performed on a variety of human motion behaviors, and joint torque and joint power during human motion are selected as indicators to characterize the ultimate drive capability that a humanoid robot should achieve. The PhaseSpace three-dimensional motion capture system and self-developed integrated force measuring system with range of at least 5 times the body weight were used to conduct the measurement experiment of human motion trajectory and plantar force on 6 adult males under different behaviors. Based on the 149 sets of experimental data obtained, the characteristics of human walking, running and jumping behaviors were obtained and analyzed. The inverse dynamics of each joint of human lower limb was calculated by Newton-Euler method, and the multivariate nonlinear fitting was carried out to obtain the fitting equations of maximum drive torque and power. The design reference guidelines for humanoid robots are summarized to provide a reference for the design of humanoid robots with multiple movements such as walking, running and jumping.