基于ZMP的仿人机器人跑步运动模式  

A Running Pattern Generation Based on ZMP for Humanoid Robot

作　　者：王险峰[1] 李建平[1] 王辉[1] 

机构地区：[1]东北石油大学计算机与信息技术学院,黑龙江大庆163318

出　　处：《计算机研究与发展》2013年第10期2206-2211,共6页Journal of Computer Research and Development

基　　金：黑龙江省教育厅科学技术研究项目(12511012)

摘　　要：采用小车-曲面桌子模型,提出了一种基于零力矩点(zero moment point,ZMP)的仿人机器人跑步运动模式.在单腿支撑阶段和飞行阶段,分别规划了仿人机器人的质心运动轨迹和双脚运动轨迹.在单腿支撑阶段,求解根据小车-曲面桌子模型建立的动力学方程,依据小车的运动轨迹规划出仿人机器人的质心轨迹;在飞行阶段,仿人机器人质心可看作抛物线运动,质心轨迹可通过水平方向上的匀速运动和竖直方向上的自由落体运动轨迹表示.分析了双脚与地面接触时的力及力矩约束.通过改变ZMP调整身体的倾斜角度,保持身体动态平衡.同时根据动力学方程分别求解出踝关节及其他关节的关节力矩.仿真实验结果表明:仿人机器人跑步时各关节角度和关节驱动力矩变化稳定,能够实现稳定的跑步,验证了方法的有效性.Using a cart-curved table model, a running mode based on ZMP for humanoid robot is presented. Trajectory of center of mass and foot trajectory for humanoid robot are planned in support and flight phase, respectively. Trajectory of center of mass for humanoid robot is planned by solving dynamic equation based on cart-curved table model in support phase. Center of mass for humanoid robot is parapolic movement in flight phase and the trajectory of center of mass is regarded as constant velocity on the horizontal direction and free fall on the vertical direction. The constraints of force and torque when feet are contact with the ground are analyzed. Adjusting inclination degree of upper body for humanoid robot maintains its dynamic equilibrium. At the same time, joint torque values of all joints are solved according to the dynamic equation of humanoid robot. The simulation result shows that the angle values and joint torque values of each joint change smoothly and humanoid robot is able to run stably. It is verified that our proposed method is satisfactory.

关 键 词：仿人机器人 零力矩点 机器人跑步 运动学 动力学 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]