单腿跳跃机器人轨迹规划

摘要

将单腿跳跃机器人简化成一个三杆模型，研究机器人跳跃过程中各个关节的运动轨迹问题，并在总结跳跃过程现有轨迹规划方法的基础上，运用参数化优化方法实现关节空间的轨迹规划，优化目标为机器人关节的控制势最小。将跳跃过程分解成开始段、腾空段、站立段和结束段，并对各段的关节轨迹分别优化，最后得到从静止状态开始起跳到着地后恢复至静止状态的整个跳跃过程的关节轨迹。%An one-legged-hopper robot was simplified into a three-linkage model herein.The joints’trajectory planning problem was studied during jumping motion.After summarizing the cur-rent trajectory planning methods of hopper robot,a parameteric optimization method was adopted in the research to minimize the control effort of robot joints.The jump motion was decomposed into four phases:starting phase,flight phase,stance phase and stopping phase.Joint trajectories of each seg-ment were planned by optimization separately.Finally trajectories for all joints were obtained during the whole jumping motion that the robot moved from static stand upright state to next static stand state.