类人机器人腰部关节平衡作用研究与仿真

在双臂协调行为的研究中,对于类人机器人不仅涉及到双臂避碰、协调运动的轨迹规划等问题,还涉及到双臂动作时对身体ZMP的影响。当类人机器人搬动物体或执行其他工作时,由于身体质心的变化或者是质心加速度的变化对原来的运动平衡性造成影响。因此,我们在双臂协调的行为研究过程中,不得不考虑上体运动对身体ZMP的影响。这里通过调整腰部关节角度实现机器人在搬动物体时的静力学平衡,分析了通过腰部关节力矩调整实现机器人动平衡的方法,并给出了类机器人双臂搬运物体移动的仿真实例。

Research and simulation on balance effect of waist angle for a humanoid robot

In the research on correspondence behavior for robot duai-arm,not o nly the problem of collision avoidance for duai-arm,trajectory planning for cor respondent motion is invoived,but aiso the influence on ZMP of robot is involved when motion of duai-arm for humanoid robot.When humanoid rebot conveys a objec t or executes other tasks.the motion baiance of robot is influenced for changing of centroid or acceleration of centroid.Therefore.we have to think about the in fluence of upper body motion on the ZMP of body in the process of research on co rrespondence for duai-arm. Static baiance in the process of conveying a object for a robot is realized by adjussting waist joint angle in this paper.the method of dynamic baiance is reallzed by adjusting waist joint torque.and the simulatl on example of motion conveying a obfject for a humanoid robot duai-arm is given .