一种仿真数字人步态规划优化算法

为了研究下肢骨骼服的行走步态.构造了HL-1(华理1号)仿真数字人体模型,并对数字人进行了步态规划.为了确保数字人行走的稳定,避免数字人行走过程中关节驱动的冲击,减小脚与地面的碰撞,在考虑前向与侧向运动存在耦合的条件下,提出了将正运动学和逆运动学方法相结合的步态规划优化算法,克服了原有的数字人步态求解方法的不足.应用该算法求得步态周期函数,仿真数字人在Matlab和Adams环境下进行了协同仿真,实现了数字人的平稳行走,验证了该步态规划优化算法的可行性.

An Optimization Algorithm of Gait Planning for Simulated Numerical Man

To study the walking gait of lower extremity exoskeleton, a simulated numerical man model named by HL-1 was built, and its gait was planned. An optimization algorithm to solve the gait function, which combined the solution of forward kinematics and inverse kinematics at the precondition of forward and sideward coupling movement, was proposed to ensure stability of HL-1 and avoid any hit to the actua tors and minimize the impact between the foot and the ground while walking. This solution overcame the deficiency of the former method. Finally, the numerical man model walked stably when simulated in the environment of Matlab & Adams based on the algorithm. It proves that this method is practicable.