基于基本变量集的仿人机器人在线运动规划

仿人机器人在线规划方法对于其走向实际应用具有重要作用.通过对仿人机器人运动规划方法的调研以及实时性需求分析,提出了一种基于基本变量集的仿人机器人在线规划方法.该方法将运动规划问题转化为反映机器人运动状态的基本变量集的规划问题,通过对基本变量的规划和计算,得到基于关节空间的运动状态序列.该基本变量集包含零力矩点、仿人机器人重心(CoG)、髋部中心(CoC)、脚掌位置及相关关键姿态关系,所提方法结合仿人机器人动力学约束和物理约束,给出了关键变量集的规划和计算方法.最后,通过仿真实验,对规划结果的可行性进行了验证,实现了仿人机器人的稳定行走.

Study on Humanoid Online Motion Planning Based on Basic Variables Set

An online motion planning method for humanoid robots was proposed based on basic variables set. Proposed algorithm transforms the humanoid motion planning into the planning of basic variables set. And the chosen basic variables can reflect the motion state of humanoid robots, including ZMP, Center of Gravity (CoG), Center of Coxa (CoC), foot position and rotational matrices between some key frames. Then the planning and calculation of basic variables are shown, while the dynamic and physical restrictions of humanoid walking are considered. Finally, the effectiveness of the proposed algorithm was verified using kinematic and dynamic simulation, and humanoid stable walking was realized.