类人机器人腰部关节平衡作用研究与仿真  

Research and simulation on balance effect of waist angle for a humanoid robot

作　　者：吴伟国[1] 李小宁[1] 王瑜[1] 

机构地区：[1]哈尔滨工业大学,哈尔滨150001

出　　处：《机械设计与制造》2006年第5期112-114,共3页Machinery Design & Manufacture

基　　金：国家自然科学基金资助课题(50275032)

摘　　要：在双臂协调行为的研究中,对于类人机器人不仅涉及到双臂避碰、协调运动的轨迹规划等问题,还涉及到双臂动作时对身体ZMP的影响。当类人机器人搬动物体或执行其他工作时,由于身体质心的变化或者是质心加速度的变化对原来的运动平衡性造成影响。因此,我们在双臂协调的行为研究过程中,不得不考虑上体运动对身体ZMP的影响。这里通过调整腰部关节角度实现机器人在搬动物体时的静力学平衡,分析了通过腰部关节力矩调整实现机器人动平衡的方法,并给出了类机器人双臂搬运物体移动的仿真实例。In the research on correspondence behavior for robot duai - arm, not only the problem of collision avoidance for duai - arm, trajectory planning for correspondent motion is invoived, but aiso the influence on ZMP of robot is involved when motion of dual - arm for humanoid robot. When humanoid rebot conveys a object or executes other tasks, the motion baiance of robot is influenced for changing of centroid or acceleration of centroid. Therefore. we have to think about the influence of upper body motion on the ZMP of body in the process of research on correspondence for duai - arm. Static baiance in the process of conveying a object for a robot is realized by adjussting waist joint angle in this paper, the method of dynamic baiance is reallzed by adjusting waist joint torque, and the simulatlon example of motion conveying a obfject for a humanoid robot duai - arm is given.

关 键 词：冗余度机器人 双臂协调 ZMP 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]