平面单腿关节型跳跃机器人建模及步态规划  

Modeling and gait planning of planar one-legged articulated hopping robot

作　　者：潘树文[1] 李艳君[1] 陈琢[1] 

机构地区：[1]浙江大学城市学院信息与电气工程学院,杭州310015

出　　处：《中国科技论文》2015年第4期384-390,共7页China Sciencepaper

基　　金：国家自然科学基金资助项目(61104149);高等学校博士学科点专项科研基金资助项目(20110101120062);浙江省自然科学基金资助项目(LY14F030002;LY14F030003);杭州市科技计划项目(20140432B08);杭州市重大科技专项(20142013A64)

摘　　要：为研究平面单腿关节型跳跃机器人的建模和步态规划问题,首先运用拉格朗日动力学方程推导了该机器人的解析动力学模型;然后提出一种单质心的机器人模型来进行跳跃步态规划,同时,在Matlab Simulation环境中建立包括地面模块的SimMechanics模型,使其成为平面单腿关节型跳跃机器人的仿真平台;最后,通过对给定参数的跳跃机器人3种模型的仿真及结果比较,说明以上这些模型的有效性与关联性。结果表明,平面单腿关节型跳跃机器人的3种模型协作能够满足其运动仿真和研究需求。Modeling and gait planning for plane oneqegged articulated hopping robot is studied in this paper. The Lagrange equa- tion of motion was first used to derive the analytical dynamic model equations. Then, an one-mass model of the robot was pro posed for the gait planning of the hopping action. A SimMechanics model including the ground block was also built for the hopping robot in the Matlab Simulation environment. The effectiveness of the three models and the relationships among them was demon- strated after comparing the simulation results of the three models for the hopping robot with the given parameters. Results show that the cooperation of above three models can meet the requirements of the locomotion simulation and research for the planar one- legged articulated robot.

关 键 词：控制理论与控制工程 跳跃机器人 Matlab SIMMECHANICS 建模 步态规划 拉格朗日运动方程 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]