人体步行规律与仿人机器人步态规划  

Human walking mechanism and gait planning of humanoid robots

作　　者：李敬[1] 黄强[1,2,3] 余张国[1,2,3] 王化平[1] 张思[1] 马淦[1] 许威[1] 

机构地区：[1]北京理工大学机电学院智能机器人研究所,北京100081 [2]北京理工大学仿生机器人与系统教育部重点实验室,北京100081 [3]北京理工大学复杂系统智能控制与决策重点实验室,北京100081

出　　处：《中国科学：信息科学》2012年第9期1067-1080,共14页Scientia Sinica(Informationis)

基　　金：国家自然科学基金(批准号:60925014);国家高技术研究发展计划(批准号:2008AA042601);高等学校学科创新引智计划(批准号:B08043)资助项目

摘　　要：从仿生学角度分析了人体的步行运动规律,提出了一种基于人体运动规律的仿人机器人步态参数设定方法.首先对人体步行运动数据进行捕捉并分析,得出人体各步态参数间的函数关系,以人体步行相似性作为评价指标,提出仿人机器人步态参数的设定方法.其次,通过分析人体在步行过程中的补偿支撑脚偏航力矩的基本原理,提出了基于双臂及腰关节协调运动的仿人机器人偏航力矩补偿算法,以提高仿人机器人行走的稳定性.最后通过仿真及实验验证了所提出的步态规划方法的正确性及有效性.After years of evolution, human walking can be characterized as energy-efficient, stable, natural and coordinated. The humanoid robots have to possess such characteristics in order to adapt to the complicated environment and serve the humankind. This paper analyzes the human walking mechanism from the biomimetic viewpoint, and proposes a method of designing the gait pattern of humanoid robots based on this mechanism. Firstly, the human motion data were captured with the optical motion capture system and analyzed in order to obtain the relationship of the human gait pattern parameters and the determining method of these parameters was proposed with the evaluation index of walking similarity. Then the humanoid robot torque compensation strategy in the yaw direction based on coordinated motion of the arms and waist was proposed by analyzing the principle how a human being succeeded in canceling the yaw torque while walking. Finally, we tested and improved the method through dynamics simulation. The simulation and the actual experiments on the platform of ＂BHR＂ humanoid robot demonstrated that more smooth trajectories can be generated and the slip occurred in fast walking before can be avoided with this method. In the future, we will further our studies on the human walking mechanism and explore the methods for fast walking gait planning based on this mechanism.

关 键 词：双足移动 运动控制 移动机器人 机器人学 动力学分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]