拟人机器人交互作用力的研究

拟人机器人的动力学具有高度非线性、高度耦合的特点,分析清楚各组成部分之间的交互作用力是实施高级控制方法的基础。文章在以往分析移动机械手的基础上,从整体建模的角度入手,对拟人机器人的交互作用力提出了一个新的模型,即神经网络模型。利用该模型对一个特殊的单一手臂运动的例子进行了拟合,其结果是收敛的。这说明提出的模型是有效的,此后,我们将陆续给出研究成果。

Interactive Forces Research on Humanoid

The dynamics equation of humanoid robot is highly nonlinear and highly coupled, so analyzing the interactive forces between different parts is the basis of advanced control methods. This paper is based upon the past analysis of mobile manipulators. In the light of the whole body modeling idea, a new model (i.e. NN model) of the humanoid' s interaction is proposed. By use of the new model, we approximate to a special motion of right arm and the result is convergent. It can tell us that the proposed model is valid. In the future, we will show our research result continuously.