给定手部作业轨迹的仿人机器人推操作研究  

Research on Pushing Operation by Humanoid Robot under Certain Hand Manipulation Trajectory

作　　者：肖涛[1] 黄强[2] 杨洁[2] 余张国[2] 张伟民[2] 

机构地区：[1]中国空间技术研究院北京空间飞行器总体设计部,北京100094 [2]北京理工大学宇航科学技术学院智能机器人研究所,北京100081

出　　处：《机器人》2008年第5期385-391,共7页Robot

基　　金：国家863计划资助项目(2003AA420010)

摘　　要：以推车作业为例对"汇童"仿人机器人动态行走中的推操作进行了研究,分析了手部位置与腰部位移的关系,对作业运动中手部轨迹的补偿进行了研究.另外,作业中机器人与车之间存在相互作用,根据作业的期望作用力,开展了基于ZMP稳定性判据的作业运动稳定性控制研究.仿真和实验验证了该方法的有效性,它能满足推车作业手臂操作性和运动稳定性要求.Taking pushing a handcart as an example, pushing operation by humanoid robot BHR-2 during dynamic walking is studied. The relationship between hand position and waist displacement is analyzed and the compensation for hand manipulation trajectory during the manipulation motion is studied. In addition, there is interaction between the robot and the handcart, so stability control for the manipulation motion based on ZMP （zero moment position） criterion is studied considering the desired pushing force. The validity of the method is demonstrated by simulation and experiment. The arm manipulability and motion stability for pushing operation are achieved.

关 键 词：仿人机器人 推操作 手臂操作性 作业稳定性 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]