三肢体机器人交叉步态运动规划研究

摘要

对一种新型三肢体腿臂融合机器人的独特交叉步态进行了运动规划.为了提高该机器人行走过程中的姿态稳定性和吸附稳定裕度,采用遗传算法求解其交叉步态行走过程中吸附支撑足的吸附机构受载目标优化问题,对其交叉步态进行优化,得到了相应的步态优化算法和优化参数.仿真和试验结果表明,机器人采用优化后的交叉步态行走时,机器人对吸附支撑机构的作用力矩除运动开始处为固定值外,行走的其余过程中得到了有效的降低,并且机器人运动平稳,具有很好的运动连续性和平稳性.%The motion planning for the unique cross gait of a novel three-limb bio-robot with arm-leg integration was conducted.In order to improve its posture stability and the stability margin of absorption in the process of walking, the genetic algorithm was employed to solve the objective optimization problem of the absorption mechanism under load of the standing foot when walking in the cross gait.The cross gait of the robot was optimized and the corresponding gait optimization algorithm and parameters were obtained.The simulation and the experimental results demonstrated that after optimization of the cross gait, the acting moment that acted on the absorption mechanism was efficiently decreased, but staying fixed at the beginning of motion.And the robot possessed the excellent continuity, smoothness and stability.