12自由度双足机器人的开发与步态规划研究  

The Development of a 12 DOF Biped Robot and Gait Planning Research

作　　者：孙飞[1] 居鹤华[1] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124

出　　处：《机械与电子》2011年第9期3-7,共5页Machinery & Electronics

基　　金：国家自然科学基金资助项目(60374067)

摘　　要：针对一种新型的仿人型12自由度双足机器人,首先介绍了其基于SolidWorks的机械结构设计,具体阐述了双足机器人机械主体的组成、自由度配置以及其拟人关节和传动机构的设计;构建了双足机器人基于D-H坐标系的运动学模型。而后重点研究了一种离线的步态规划方法,其核心思想是将双足机器人的前向步态和侧向步态分别简化为七连杆模型和五连杆模型,分别加以几何约束分析,然后在Z坐标相等的情况下合成三维步态;最后通过ZMP方程来检验并在Matlab环境下进行仿真,验证了所述规划方法的有效性。Aiming at a new humanoid 12 DOF biped robot,this paper fist introduces the robot＇s mechanical design made by SolidWorks, specifically discusses the composition of the biped robot＇s mechanical body, degree of freedom configuration and the anthropomorphic design of the joints and transmission system. Then this paper mainly focuses on a off - line gait planning method. According to this method, the biped robot＇s frontal gait and lateral gait are simplified as a seven - link model and a five- link model respectively. The models are analyzes by geometrics separately and the two gaits are synthesized to a three - dimensional gait in the case of equal Z coordinate. In the end, the method＇ s effectiveness are verified through the ZMP equations and Simulation under the Matlab environmetn.

关 键 词：双足机器人 机构设计 步态规划 ZMP方程 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]