一种仿真数字人步态规划优化算法  

An Optimization Algorithm of Gait Planning for Simulated Numerical Man

作　　者：曹恒[1] 凌正阳[1] 王瑜[1] 龙勇波[1] 朱钧[1] 

机构地区：[1]华东理工大学机械与动力工程学院,上海200237

出　　处：《振动．测试与诊断》2009年第4期433-436,共4页Journal of Vibration,Measurement & Diagnosis

基　　金：国家自然科学基金资助项目(编号:50775072)

摘　　要：为了研究下肢骨骼服的行走步态,构造了HL-1(华理1号)仿真数字人体模型,并对数字人进行了步态规划。为了确保数字人行走的稳定,避免数字人行走过程中关节驱动的冲击,减小脚与地面的碰撞,在考虑前向与侧向运动存在耦合的条件下,提出了将正运动学和逆运动学方法相结合的步态规划优化算法,克服了原有的数字人步态求解方法的不足。应用该算法求得步态周期函数,仿真数字人在Matlab和Adams环境下进行了协同仿真,实现了数字人的平稳行走,验证了该步态规划优化算法的可行性。To study the walking gait of lower extremity exoskeleton,a simulated numerical man model named by HL-1 was built,and its gait was planned. An optimization algorithm to solve the gait function,which combined the solution of forward kinematics and inverse kinematics at the precondition of forward and sideward coupling movement,was proposed to ensure stability of HL-1 and avoid any hit to the actuators and minimize the impact between the foot and the ground while walking. This solution overcame the deficiency of the former method. Finally,the numerical man model walked stably when simulated in the environment of Matlab & Adams based on the algorithm. It proves that this method is practicable.

关 键 词：仿真 数字人 运动学 步态规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]