基于变质心高度策略仿人机器人变步长步态规划  

Humanoid robot variable walking gait planning based on the variablecenter of mass height strategy

作　　者：何翔 HE Xiang(China Railway Siyuan Survey and Design Group Co.,Ltd.,Wuhan 430063,China)

机构地区：[1]中铁第四勘察设计院集团有限公司,武汉430063

出　　处：《重庆理工大学学报（自然科学）》2023年第6期146-152,共7页Journal of Chongqing University of Technology：Natural Science

基　　金：国家重点研发计划项目(2018YFB2100903)。

摘　　要：针对仿人机器人步态切换越障需求,提出一种基于变质心高度策略的变步长步态规划方法。首先,分析质心(CoM)高度变化对机器人步态的影响,将1个步行周期分为3个阶段,包括质心下降、上升和定高度过程,规划质心高度轨迹。然后,规划零力矩点(ZMP)参考轨迹,基于变高度倒立摆模型,通过托马斯算法解算质心轨迹。为了增强鲁棒性,考虑到机器人越障时步行参数变化的步态切换需求,提出一个具有等式约束的二次规划问题,求解质心优化轨迹。最后,以NAO机器人为实验平台,进行变步长步行对比实验。结果表明:所提出的基于变质心高度策略的步态规划方法,能够实现机器人大步幅变步长稳定步行,实现步态平滑切换,相比于恒定质心高度方法,所提方法的步行平均能耗降低约10%。Aiming at the requirement of humanoid robot gait switching and obstacle crossing,this paper proposes a variable walking gait planning method based on the variable center of mass height strategy(CoM).First of all,by analyzing the influence of CoM height change on the gait of a robot,a walking cycle is divided into three parts to plan the trajectory of the CoM height,including lowering-down process,rising-up process and constant height process.Then,the reference trajectory of the zero moment point(ZMP)is planned,and,based on the inverted pendulum model of variable height,the CoM trajectory is calculated through Thomas algorithm.In order to enhance the robustness,considering the gait switching requirements of changing walking parameters when the robot crosses obstacles,a quadratic programming problem with equality constraints is proposed to solve the optimized CoM trajectory.Finally,a variable step-length walking comparison experiment is carried out on the NAO robot.The results show that the proposed gait planning method based on the strategy of varying the CoM height can effectively ensure the stability of the robot at large steps as well as variable step-length,which realizes smooth gait switching.Compared with the method of constant CoM height,the average walking energy consumption of the proposed method reduces by about 10%.

关 键 词：变质心高度 变步长 能量效率 二次规划 双足步行 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]