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针对仿人机器人在步行时产生的绕ZMP(零力矩点)的偏摆力矩导致其失稳甚至摔倒的问题,提出了一种基于双臂摆动的偏摆力矩矫正方法.分析了偏摆力矩产生的原因及其对机器人步行稳定性的影响;根据仿人机器人的连杆模型和手臂摆动的单摆模型,推导出了双臂摆动力矩的表达式,结合双臂摆动的示意图阐述了利用双臂摆动力矩矫正偏摆力矩的原理;采用三次样条插值规划出双臂参数化的摆动角轨迹,再通过穷举法遍历摆动角参数使双臂摆动力矩满足偏摆力矩的矫正要求.仿真结果表明,该方法不仅能较好地矫正偏摆力矩,使机器人实现稳定的步行,而且能保证双臂的摆动角轨迹单调、平滑和周期性。
Aiming at the problem that the yaw moment around ZMP (zero moment point) caused by the humanoid robot during walking causes its instability or even fall, a method of yaw moment correction based on the double arm swinging is proposed. The reason and its influence on the walking stability of the robot. According to the connecting rod model of the humanoid robot and the pendulum model of the arm swing, the expression of the swinging moment of the double arm is deduced. Based on the diagram of the swinging of the two arms, The principle of yaw moment of arm swinging moment is corrected, and the parametric swing angle trajectory of double arm is planned by cubic spline interpolation, and then the oscillating angle parameter is traversed by exhaustive method to meet the requirements of yaw moment correction. It is shown that this method can not only correct the yawing moment well, make the robot walk steadily, but also ensure the monotonous, smooth and periodic trajectory of the arms.