计算机工程与应用
計算機工程與應用
계산궤공정여응용
COMPUTER ENGINEERING AND APPLICATIONS
2014年
19期
53-57
,共5页
自然ZMP轨迹%双足机器人%步态规划%线性倒立摆模型%线性摆模型
自然ZMP軌跡%雙足機器人%步態規劃%線性倒立襬模型%線性襬模型
자연ZMP궤적%쌍족궤기인%보태규화%선성도립파모형%선성파모형
natural ZMP trajectory%biped robot%gait planning%Linear Inverted Pendulum Model(LIPM)%Linear Pendulum Mode(LPM)
为了实现双足机器人类人行走,提出了一种基于自然ZMP轨迹的双足机器人步行模式生成方法。在单腿支撑相,根据基于三维线性倒立摆模型,在设定从脚跟到脚趾移动的自然ZMP轨迹后,得到质心轨迹方程;在双腿支撑相采用线性摆模型生成质心轨迹方程。同时给出了在统一坐标系中的多步规划质心轨迹方程。在RoboCup 3D仿真平台实现了采用自然ZMP轨迹的双足机器人类人稳定步行,实验和竞赛结果都验证了该方法的有效性。
為瞭實現雙足機器人類人行走,提齣瞭一種基于自然ZMP軌跡的雙足機器人步行模式生成方法。在單腿支撐相,根據基于三維線性倒立襬模型,在設定從腳跟到腳趾移動的自然ZMP軌跡後,得到質心軌跡方程;在雙腿支撐相採用線性襬模型生成質心軌跡方程。同時給齣瞭在統一坐標繫中的多步規劃質心軌跡方程。在RoboCup 3D倣真平檯實現瞭採用自然ZMP軌跡的雙足機器人類人穩定步行,實驗和競賽結果都驗證瞭該方法的有效性。
위료실현쌍족궤기인류인행주,제출료일충기우자연ZMP궤적적쌍족궤기인보행모식생성방법。재단퇴지탱상,근거기우삼유선성도립파모형,재설정종각근도각지이동적자연ZMP궤적후,득도질심궤적방정;재쌍퇴지탱상채용선성파모형생성질심궤적방정。동시급출료재통일좌표계중적다보규화질심궤적방정。재RoboCup 3D방진평태실현료채용자연ZMP궤적적쌍족궤기인류인은정보행,실험화경새결과도험증료해방법적유효성。
In order to achieve human-like biped walking, a walking pattern generator with natural Zero Moment Point (ZMP)reference trajectory for biped robot is proposed. In the single support phase, after given the natural ZMP reference trajectory moved forward from the heel to the toe, the trajectory equations of Center of Mass(CoM)can be obtained based on the 3D Linear Inverted Pendulum Model(LIPM). In the double support phase, the trajectory equations of CoM can be represented using Linear Pendulum Mode(LPM). Also the trajectory equations of CoM based on multi-step gait planning are given in a unified coordinate system. A human-like stable walking based on natural ZMP trajectory is achieved in Robocup 3D simulation platform for biped robot. The results of RoboCup 3D simulation and competition verify the effectiveness of the method.