| 人形机器人建模与步态规划 |
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| 引用本文： | 唐策,赵现朝,齐臣坤. 人形机器人建模与步态规划[J]. 机械制造与自动化, 2012, 41(4): 158-162 |
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| 作者姓名： | 唐策 赵现朝 齐臣坤 |
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| 作者单位： | 上海交通大学,机械与动力工程学院,上海200240 |
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| 摘 要： | 目前人形机器人控制的难点主要集中在:关节扭矩不够,运动稳定性不佳等方面。针对以上问题,提出了以下解决方案:针对关节扭矩不够选取了大扭矩电动机的同时,采用三次样条差值使运动轨迹更加平滑,减小输出扭矩。采用ZMP来观察运动轨迹,改善运动的稳定性。同时,由于人形机器人运动稳定性不佳,容易摔倒,使用ODE物理引擎在Labview中建模与仿真,进行更加方便的进行步态规划的研究。最终实现了仿真平台下人形机器人的稳定行走。
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| 关 键 词： | 人形机器人 ODE Labview ZMP 轨迹规划 仿真 |
Humanoid Robot simulation and gait planning |
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| TANG Ce , ZHAO Xian-chao , QI Cheng-kun. Humanoid Robot simulation and gait planning[J]. Machine Building & Automation, 2012, 41(4): 158-162 |
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| Authors: | TANG Ce ZHAO Xian-chao QI Cheng-kun |
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| Affiliation: | TANG Ce,ZHAO Xian-chao,QI Cheng-kun(Shanghai Jiaotong University,School of Mechanical Engineering,Shanghai 200240) |
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| Abstract: | The control difficulties of humanoid robot are mainly concentrated on the insufficiency of joints torque and the poor stability of robot motion.To solve the insufficiency of joints torque,high torque motors are chosen,and the cubic spline interpolation is used to smooth the trajectory for reducing the output torque.ZMP trajectory is used to observe and improve the stability of movement.Meanwhile,due to the poor stability,it is easy to tumble the robot down.ODE is used to carry out modeling and simulation on the Labview platform,such that it is more convenient to make a study of the gait planning.Finally,a steady humanoid robot walking is achieved in the simulation environment. |
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| Keywords: | Humanoid robot ODE Labview ZMP gait planning simulation. |
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