CAJ | 학술논문

为了研究下肢骨骼服的行走步态.构造了HL-1(华理1号)仿真数字人体模型,并对数字人进行了步态规划.为了确保数字人行走的稳定,避免数字人行走过程中关节驱动的冲击,减小脚与地面的碰撞,在考虑前向与侧向运动存在耦合的条件下,提出了将正运动学和逆运动学方法相结合的步态规划优化算法,克服了原有的数字人步态求解方法的不足.应用该算法求得步态周期函数,仿真数字人在Matlab和Adams环境下进行了协同仿真,实现了数字人的平稳行走,验证了该步态规划优化算法的可行性.
위료연구하지골격복적행주보태.구조료HL-1(화리1호)방진수자인체모형,병대수자인진행료보태규화.위료학보수자인행주적은정,피면수자인행주과정중관절구동적충격,감소각여지면적팽당,재고필전향여측향운동존재우합적조건하,제출료장정운동학화역운동학방법상결합적보태규화우화산법,극복료원유적수자인보태구해방법적불족.응용해산법구득보태주기함수,방진수자인재Matlab화Adams배경하진행료협동방진,실현료수자인적평은행주,험증료해보태규화우화산법적가행성.
To study the walking gait of lower extremity exoskeleton, a simulated numerical man model named by HL-1 was built, and its gait was planned. An optimization algorithm to solve the gait function, which combined the solution of forward kinematics and inverse kinematics at the precondition of forward and sideward coupling movement, was proposed to ensure stability of HL-1 and avoid any hit to the actua tors and minimize the impact between the foot and the ground while walking. This solution overcame the deficiency of the former method. Finally, the numerical man model walked stably when simulated in the environment of Matlab & Adams based on the algorithm. It proves that this method is practicable.