仿人机器人仰卧-直立构态变化分析  

Research on states transition of rising from a supine position to erect stance for humanoid robot

作　　者：戚开诚[1] 张建军[1] 刘伟[1] 高峰[2] 

机构地区：[1]河北工业大学机械学院,天津300130 [2]上海交通大学机械与动力工程学院,上海200240

出　　处：《机械设计》2013年第6期37-40,共4页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51175144)

摘　　要：基于GF集理论描述了仿人形机器人的末端特征,分析了机器人的躺构态和站立构态。进行了人躺-站构态变化实验,将这个变化过程用GF集描述为几个简单的动作。根据关节力矩最小,通过对人体实验的分析,得出了躺-站构态变化的最优路径。The kinematics characteristics of the end-effectors of the humanoid robot was described based on the theory of Gf set, the states of standing and lying was analyzed. A test to observe the process of the lying to standing was carried out, which was described as sonie simple segment motions based on the GF set. By minimizing the torque of the joint and analysis of robot body test, optimized paths for states transition of rising from a supine position to erect stance are achieved.

关 键 词：仿人机器人 构态 GF集 SJTU-HR1 

分 类 号：TH112[机械工程—机械设计及理论] TP13[自动化与计算机技术—控制理论与控制工程]