基于落脚点优化的仿人机器人步态规划方法  

Humanoid Robot Gait Planning Method Based on Foot Placement Optimization

作　　者：甘春标[1] 李子静 能一鸣 GAN Chunbiao;LI Zijing;NENG Yiming(School of Mechanical Engineering,Zhejiang University,Hangzhou 310058,China)

机构地区：[1]浙江大学机械工程学院,杭州310058

出　　处：《农业机械学报》2024年第11期486-491,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金重点项目(12332003);浙江省自然科学基金项目(LY23E050010)。

摘　　要：因受外界不确定性扰动影响,仿人机器人运动状态在短时间内可能发生大幅变化,使得机器人难以持续行走而摔倒。基于线性倒立摆,对经典步态规划方法中由步行参数确定目标落脚点的关系式进行了优化调整,以实现更为协调的行走步态;以两步为一周期生成步行模式,通过预观后续两个目标落脚点,提出一种基于单步和两步内落脚点偏差优化的步态规划方法;对小型仿人机器人进行了大幅加/减速行走仿真实验,实验结果表明,改进的步态规划方法能够显著降低落脚点偏差极大值,可将经典方法中运动状态突变时连续两步的落脚点偏差从1.1、0.8 cm降至0.6、0.7 cm。同时,改进的步态规划方法也能削弱惯性力对躯干稳定性的影响,可使由经典方法导致的躯干俯仰角最大变化幅度从7.8°减至6.0°。Humanoid robots,with their human-like form,can more easily integrate into human daily life and adapt to existing infrastructure environments.The study of their kinematics and dynamics theories,along with methods for disturbance rejection control,has been a focal point of research among numerous scientists and engineers around the world for nearly half a century.Due to disturbances from external uncertainties,the motion state of humanoid robots may undergo significant changes in a short period,often leading to difficulties in maintaining continuous walking and resulting in falls.Firstly,optimization adjustments were made to the relationship equation between the walking parameters and the target foot placement in classical gait planning methods based on the linear inverted pendulum,aiming to achieve a more coordinated walking gait.Secondly,a gait planning method based on optimizing the deviation of foot placement within one and two steps was proposed by generating walking patterns in two-step cycles and anticipating the subsequent two target foot placements.Substantial acceleration/deceleration walking simulations and experiments were conducted on a small humanoid robot.The experimental results showed that the improved gait planning method can significantly reduce the maximum deviation of the landing points,reducing the deviation of two consecutive steps during motion state transitions from 1.1cm and 0.8cm to 0.6cm and 0.7cm,respectively,compared with the classical method.Moreover,the improved gait planning method also mitigated the impact of inertial forces on trunk stability,decreasing the maximum change in trunk pitch angle caused by the classical method from 7.8 to 6.0°.

关 键 词：仿人机器人 落脚点优化 步态规划 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]