具有7自由度和双球型髋关节的仿人机器人下肢运动分析与规划  

Kinematics Analysis and Motion Planning of a Humanoid Leg with 7DOF and Double Spherical Hip Joint

作　　者：张 黄强[1] 李光日[1] 赵玉灿[1] 张伟民[1] 

机构地区：[1]北京理工大学宇航科学技术学院,北京100081

出　　处：《机器人》2007年第6期558-562,568,共6页Robot

摘　　要：提出了具有7自由度和双球型髋关节的仿人机器人下肢机构.它和传统的6自由度双足步行机构相比,具有下述两大优点.首先双球型髋关节使机器人在不增加腰部关节的情况下实现腰部的基本运动功能,使机器人能够直立行走;其次在给定腰和足部位置时,它也能和人类一样实现转动双腿的动作.本文还对该复杂机构进行了运动特性分析、运动学求解、运动规划和实验验证.A new leg mechanism with 7 DOF （degrees of freedom） and double spherical hip joint is proposed in this paper. Comparing with traditional 6 DOF biped mechanisms, it has the following two advantages. First, the double spherical joint can realize the basic function of waist motion without waist joint, enabling the humanoid robot to walk erectly. Secondly, if positions of the foot and waist are given, it can rotate the legs in a manner similar to human. This paper also discusses such problems of this complex mechanism as motion characteristic analysis, kinematics solution, motion planning, and validation experiments.

关 键 词：仿人机器人 7自由度 双球型髋关节 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]