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本文采用虚拟力控制方法规划双足机器人动态稳定的短跑运动,以解决仅脚尖着地时无有效支撑域的问题.然而,脚尖着地的方式却给支撑腿引入了1个冗余关节,导致在虚拟力控制时支撑腿内部运动的不确定.为解决该问题,在分析身体虚拟力和支撑腿各关节做功的基础上,以最大化虚拟力总驱动功率为目标,提出膝关节和踝关节协调驱动的条件和实现方法.该方法通过均衡膝和踝的驱动负担,既解决了支撑腿内部运动的不确定问题,又充分发挥了踝关节的驱动能力.在腿部其他关节驱动能力不变的情况下,通过短跑运动方式可以有效提高双足机器人的运动速度.最后,通过仿真实验验证了本方法的有效性.
In this paper, the virtual force control method is used to plan the dynamic stable sprint motion of biped robot to solve the problem that there is no effective support region when the tiptoe lays.However, the way of tiptoe has introduced a redundant joint into the support leg, In order to solve the problem, based on the analysis of the virtual force of the body and the work done by the joints, the total driving force of the virtual force is taken as the goal, and the knee joint and the ankle are coordinatedly driven By balancing the driving burden of the knee and ankle, the method not only resolves the problem of indeterminate internal movement of the supporting leg but also gives full play to the driving ability of the ankle.When the other joint driving ability of the leg is unchanged , The speed of biped robot can be effectively increased by means of sprint motion.Finally, the simulation results show the effectiveness of the method.