小型双足机器人直行步态的并行规划策略研究

摘要

根据人体结构设计了小型舵机驱动双足机器人,采用D-H方法建立其位姿数学模型,利用5次多项式插值的方法规划出踝关节和髋关节的位置-时间函数,对髋关节踝关节轨迹进行代数解析得到每个关节的转角-时间函数.提出双足机器人直行步态并行规划策略,即将关节转角-时间函数分别导入ADAMS虚拟样机和实际物理样机,虚拟样机和物理样机同时测试规划的步态数据.通过实验验证,并行规划策略可以并行比较运动仿真直行步态和物理样机直线行走状态.%According to the human body structure,a small steering gear driven biped robot was designed.The position-time functions of the ankle joint and hip joint were planned and calculated by using the method of fifth-order polynomial interpolation.The angular-time functions of each joint were obtained by an algebraic analysis of the joints trajectory.Using the straight gait parallel programming strategy of the biped robot,the joint angle-time functions were imported into the ADAMS virtual prototype and the actual physical prototype respectively in oder to test the planned gait data.By experimental verification,it is shown that the straightforward motion simulated gait of the physical prototype and the straight walk of the virtual prototype can be compared in parallel.