类人猿型机器人“GOROBOT”的可变ZMP双足动步行仿真  

Simulation of Biped Dynamic Walking for Gorilla Robot "GOROBOT" on Basis of Variable ZMP

作　　者：吴伟国[1] 郎跃东[1] 梁风[1] 

机构地区：[1]哈尔滨工业大学机电工程学院机械设计系,黑龙江哈尔滨150001

出　　处：《系统仿真学报》2007年第17期4000-4003,4064,共5页Journal of System Simulation

基　　金：国家自然科学基金资助课题(50275032)

摘　　要：为了有效地验证类人猿型机器人"GOROBOT"的双足动步行能力,通过合理地将可变ZMP(Zero Moment Point)的变化规律定义为余弦曲线,并基于三维倒立摆的动力学原理,推导出了单脚支撑期内机器人质心轨迹方程。在此基础上,采用样条插值函数来保证机器人质心加速度的连续性,从而提出了基于这种可变ZMP的双足动步行关节轨迹生成方法。最后,在虚拟物理环境下利用仿真软件实现了虚拟的3-D类人猿机器人"GOROBOT"双足动步行,验证了方法的正确性和实际类人猿机器人"GOROBOT"的双足动步行能力。In order to effectually validate the ability of biped dynamic walking for the gorilla robot ＂GOROBOT＂, based on dynamics of three-dimensional inverted pendulum model in the single leg support phase, the COG （Center Of Gravity）＇s trajectory equation of the robot was educed through the law of the ZMP trajectory reasonably being defined as a cosine curve. Furthermore, spline interpolation function was used to ensure the acceleration continuity of the robot＇s COG Therefore, the method was proposed to generate biped dynamic walking pattern based on the variable ZMP. Finally, under virtual physical environment, biped dynamic walking of 3-D virtual prototype ＂GOROBOT＂ was realized. By the simulation, correctness and rationality of the method was validated, and the ability of the actual robot＇s biped dynamic walking was also confirmed.

关 键 词：类人猿型机器人 可变ZMP 动步行 三维倒立摆 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]