仿人型跑步机器人的运动学分析

提出了一种对仿人型跑步机器人的运动学进行分析的新方法。首先建立惯性坐标系、参考坐标系和物体坐标系，再根据D-H规则推导各个坐标系之间的转换矩阵，并用它们来分析正向运动学问题。通过推导机器人质心轨迹、双脚轨迹和各个关节角度之间的关系式，得到了跑步机器人逆向运动学的计算公式。仿真结果表明：这种方法对于求解仿人型跑步机器人的正向运动学和逆向运动学问题，具有求解速度快、精度高等优点。

Analysis of Kinematics of Humanoid Running Robot

A new method was presented, which can analyze the kinematics of humanoid running robot. Firstly, inertia coordinate system, reference coordinate system and body coordinate system were built. Then the transformation matrices between two coordinate systems were derived according to Denavie-Hartenbery transformation and they were used to analyze the forward kinematics. Final- ly, the formulation of inverse kinematics of running robot was obtained by deducing the relation between the trajectory of the center of mass of the robot and joint angles, and the relation among the trajectories of two feet and the joint angles. Simulation results show that this method has an advantage of high speed and high-precision for the forward kinematics and the inverse kinematics of the running robot.