舵机控制步行机器人系统设计  

Design of a servo-controlled walking robot system

作　　者：何乙琦 虞益龙[1] 

机构地区：[1]常州刘国钧高等职业技术学校,江苏常州213025

出　　处：《传感器世界》2016年第11期7-12,共6页Sensor World

摘　　要：首先设计了两足步行机器人的本体结构,并选择舵机作为驱动源。然后,基于广义坐标对该机器人进行了运动学建模,该方法运算简便、直观易懂。重点讨论了动态步行的算法设计,详细分析了基于零力矩点的仿人机器人动态步行运动规划方法。结合机器人的几何约束和运动约束,推导机器人参数化步态设计的推导公式,机器人步态的参数化设计大大方便了机器人的运动学和动力学分析。最后,介绍了运动规划的实验设计,并对关节调试作了总结和分析,指出了存在的问题和解决的办法。At first, the mechanical architecture of biped robot with servo as driving unit is designed in this paper. Then, the kinematical modeling is done to the robot based on generalized coordinates. This method is easy n calculation and comprehension. Tile emphasis of tile paper is laid oil the algorithm used for design of dynamic walking motion. The dynamic motion planning method based on ZMP （Zero Moment Poin Then, the equation of robot＇s wa t） is analyzed in detail. Iking pattern based on parameter is derived by making use of geometry restrains and walking restrains. The walking pattern designed based on parameters predigests the kinematics and dynamics analyses obviously. In the end the motion plan is introduced the experiment design of and the joint debugging s summarized and analyzed. Tile existing problems are pointed out and the solutions are given

关 键 词：两足步行机器人 平衡稳定性 步态规划 静态步行 动态步行 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]