中国机械工程
中國機械工程
중국궤계공정
CHINA MECHANICAl ENGINEERING
2015年
17期
2330-2335
,共6页
跳跃机器人%ZMP%优化%轨迹规划
跳躍機器人%ZMP%優化%軌跡規劃
도약궤기인%ZMP%우화%궤적규화
hopper robot%zero moment point(ZMP)%optimization%trajectory planning
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。
將單腿跳躍機器人簡化成一箇三桿模型，研究機器人跳躍過程中各箇關節的運動軌跡問題，併在總結跳躍過程現有軌跡規劃方法的基礎上，運用參數化優化方法實現關節空間的軌跡規劃，優化目標為機器人關節的控製勢最小。將跳躍過程分解成開始段、騰空段、站立段和結束段，併對各段的關節軌跡分彆優化，最後得到從靜止狀態開始起跳到著地後恢複至靜止狀態的整箇跳躍過程的關節軌跡。
장단퇴도약궤기인간화성일개삼간모형，연구궤기인도약과정중각개관절적운동궤적문제，병재총결도약과정현유궤적규화방법적기출상，운용삼수화우화방법실현관절공간적궤적규화，우화목표위궤기인관절적공제세최소。장도약과정분해성개시단、등공단、참립단화결속단，병대각단적관절궤적분별우화，최후득도종정지상태개시기도도착지후회복지정지상태적정개도약과정적관절궤적。
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.
