CAJ | 학술논문

为了保证类人机器人行走的稳定性,合理的步态规划和误差补偿是最为关键的两个方面.针对研究新一代的类人足球机器人AFU2008,在步态规划方面.根据ZMP(零力矩点)稳定性原理,首先用参考轨迹法进行关节轨迹规划,然后由运动学逆解出的关节转角值对机器人舵机进行实际控制;在误差补偿方面,采用对ZMP影响较大的上体运动进行误差补偿,并针对传统的上体补偿方法的局限性,提出了允许上体高度作匀速运动的改进方法.最后通过仿真和实际实验表明:相对于传统补偿方法,新方法能够更加明显减小机器人的ZMP误差,提高机器人ZMP的稳定裕度,使得类人机器人可以稳定快速的行走.
위료보증류인궤기인행주적은정성,합리적보태규화화오차보상시최위관건적량개방면.침대연구신일대적류인족구궤기인AFU2008,재보태규화방면.근거ZMP(령력구점)은정성원리,수선용삼고궤적법진행관절궤적규화,연후유운동학역해출적관절전각치대궤기인타궤진행실제공제;재오차보상방면,채용대ZMP영향교대적상체운동진행오차보상,병침대전통적상체보상방법적국한성,제출료윤허상체고도작균속운동적개진방법.최후통과방진화실제실험표명:상대우전통보상방법,신방법능구경가명현감소궤기인적ZMP오차,제고궤기인ZMP적은정유도,사득류인궤기인가이은정쾌속적행주.
Appropriate gait planning and error compensation are two most crucial aspects to ensure the stability of humanoid robots' walking.In the aspect of gait planning,this article carried out track planning with referenced trajectory method for the new humanoid soccer robot AFU 2008 on the basis of ZMP (Zero Moment Point)stability criterion;and then the values of joint angles which have been solved out through inverse kinematics were sent to control the mini servo motors of the humanoid robot.With regard to error compensation,this article adopted trunk movement which has great effect on ZMP to carry out error compensation.An improved method which allows the height of trunk to change evenly was introduced as the traditional method of trunk compensation has some limitations.At last simulations and experiments proved that this improved method can reduce the ZMP error more obviously than the traditional method and it Can increase the stability marsin of ZMP to make humanoid robot walk stably and quickly.