考虑脚趾的仿袋鼠跳跃机器人落地稳定性研究  

Stance Stability of a Hopping Robot Considering the Role of Toes

作　　者：张辉[1] 葛文杰[1] 杨方[1] 

机构地区：[1]西北工业大学机电学院,西安710072

出　　处：《机械科学与技术》2009年第6期754-759,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家863计划项目(2007AA04Z207);国家自然科学基金项目(50375120)资助

摘　　要：单足跳跃机器人运动稳定性研究是足类跑、跳机器人研究的理论基础和关键技术。为了揭示脚趾对于跳跃机器人落地稳定性的影响和机理,以袋鼠为仿生研究对象,考虑其脚部的结构及运动特点,建立了具有脚趾的五刚体仿袋鼠单足跳跃机构模型,并应用拉格朗日法,建立了其着地阶段的动力学方程;运用5次多项式和以袋鼠生物录像资料测取的数据为边界条件,建立了该机器人仿袋鼠跳跃的各关节转角空间的轨迹规划方法;应用零力矩点(ZMP)理论,导出了单足跳跃机器人落地稳定性的判据。在此基础上,以仿具有袋鼠参数的跳跃机器人为例,运用Matlab对机器人进行了动力学和落地稳定性仿真计算分析,给出了机器人在着地阶段的各关节转角、速度、加速度、关节驱动力矩和ZMP随时间的变化规律,验证了这一机构的可行性和轨迹规划和稳定性分析方法的有效性;并对比分析了有脚趾和无脚趾的两种情况的稳定性。结果表明:脚趾能够明显提高仿袋鼠机器人跳跃运动落地的稳定性。The motion stability of a uniped hopping robot is the theoretic basis and key technology for the study of a running and hopping robot. In order to make clear the principle and influence of its toes on the stance stability of a hopping robot, we establish the model for a uniped hopping mechanism of a five-rigid-body bionic kangaroo by imitating its crural structure and motion feature. We adopt Lagrange method to establish the dynamic equations for its stance phase, and use 5th polynomial and the data from kangaroo video as boundary conditions to establish trajectory planning method of each joint angle for this bionic kangaroo robot while hopping. We derive the criterion for the stance stability of a uniped hopping robot from zero moment point（ZMP） theory. On this basis and taking the hopping robot as an example, we adopt Matlab to analyze its dynamics and stance stability, and obtain the changing rule of each joint angle concerning its speed, acceleration, joint driving torque and ZMP with time of the stance phase. We test the feasibility of the hopping mechanism and the validity of trajectory planning and stability analysis method. We compare and analyze the stability of the robot with toes and without toes. The result shows that the toes can greatly improve the stance stability of the bionic kangaroo robot.

关 键 词：跳跃机器人 五刚体模型 脚趾 轨迹规划 稳定性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]