大型17R“加藤一郎”机器人仿人行走控制研究

针对大型17R"加藤一郎"结构双足机器人仿人行走控制问题,从仿人机器人的机械结构、控制系统、步态仿真、动力学参数等方面对机器人的影响进行了研究,采用仿生学原理,参考了人体上、下半身比例特点,对机器人的机械结构进行了设计;对机器人控制系统进行了设计,提出了一种基于DSP+FPGA的主控系统,将多CPU协同工作、分布式远程控制技术应用到仿人机器人行走控制中;利用人类行走过程中各关节的转动参数为输入的控制方法,在ADAMS上进行了步态行走试验,分析了动力学参数对机器人步态的影响。研究结果表明,以人类行走方式控制机器人步态行走,机器人行走步态稳定可行,可应用于大型双足步行机器人步态行走控制。

Humanoid traveling control of large 17R "Kato Ichiro" robot

Aiming at the problem of humanoid walking control for biped robot with large 17R"Kato Ichiro" structure, the robot's mechanical structure, control system, gait simulation, dynamics parameters and other aspects of all were studied. The mechanical structure of the robot was designed by using the bionics principle and referring to the upper and lower body proportions of the human body. The robot control sys-tem was designed, a kind of main control system based on DSP+FPGA was proposed. The multi-CPU cooperative work and the distributed remote control technology were applied to the humanoid robot walking control. The gait walking test was carried out on ADAMS by using the rotation parameters of each joint in the process of human walking and the influence of the dynamic parameters on the gait of the robot was ana-lyzed. The results indicate that the way of human walking control robot gait walking is stable and feasible, can be applied to robot gait walk-ing control.