异构双腿行走机器人动力学建模与仿真

为了实现异构双腿(人工腿和仿生腿)行走机器人的自立行走,并跟踪期望的轨迹,在仿生腿的膝关节处采用一种特殊的结构多轴闭链结构,但这种结构给系统建模带来了困难·针对这一闭链并含冗余坐标的完整系统的特点,采用罗司方程建立了异构双腿行走机器人动力学模型,给出了异构双腿关节运动和力矩之间的关系以及动力学正逆问题的求解方法,并利用典型步态数据对所建模型进行了仿真计算·结果表明,此方法可以规避难以消解的约束方程,简化模型求解,为研究异构双腿行走机器人的运动、控制、感知等功能奠定了基础·

Dynamic Model and Simulation of Biped Robot with Heterogeneous Legs

A special research was done on the dynamic modeling of a biped robot with heterogeneous legs of which one is a bionic leg and the other is an intelligent prosthesis. To make the robot walk with an expected gait, a special multi-pivot mechanism with closed chain was designed and used at the knee joint of the intelligent prosthesis, but it brought a difficulty to the dynamic modeling if comparing it with the single-pivot mechanism. For the characteristics of closed chain with redundant coordinates, the Routh equation was applied to developing a dynamic model of the biped robot with heterogeneous legs to which the relationship between force and moment of the two legs are evaluated, thus giving dynamically the direct and inverse solutions to the Routh equation. A simulation was also carried out to calculate the equation of dynamic model with typical gait data. The result showed that the reluctant constraint equation can therefore be avoided. What the research concluded provides a foundation to investigate further the locomotion, control and perception of the robot.