一种仿人机器人步态优化的新方法研究

利用仿人机器人七连杆模型,建立了机器人姿态的位置向量.先用带参数的五次多项式拟合机器人髋关节的位置曲线,然后用非时间参考变量的方式规划出了踝关节和膝关节的运动轨迹.在机器人步行的稳定区域内,通过遗传算法求得了ZMP点偏离脚掌中心距离的最大值,从而确定了髋关节的参数,实现了仿人机器人步态优化.实验证明该方法有效.

Gait Optimizing of Humanoid Robots Using a New Method

It uses the seven-link model for humanoid robots to establish the robot posture vector.First,a polynomical equation with five parameters was used to fit the robot hip’s curves,and then a non-time reference variable was used to work out the robot’s ankle and knee trajectories.In the region where the robot can walk stably,the maximum distance for the robot’s ZMP deviation from the foot center was obtained by using the genetic algorithm.At the same time,the parameters of the hip were determined to optimize the humanoid robot gait.Experimental results show that this method is effective.