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从仿生学角度分析了人体的步行运动规律,提出了一种基于人体运动规律的仿人机器人步态参数设定方法.首先对人体步行运动数据进行捕捉并分析,得出人体各步态参数间的函数关系,以人体步行相似性作为评价指标,提出仿人机器人步态参数的设定方法.其次,通过分析人体在步行过程中的补偿支撑脚偏航力矩的基本原理,提出了基于双臂及腰关节协调运动的仿人机器人偏航力矩补偿算法,以提高仿人机器人行走的稳定性.最后通过仿真及实验验证了所提出的步态规划方法的正确性及有效性. 相似文献
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仿人机器人复杂动态动作设计及相似性研究 总被引:5,自引:0,他引:5
提出了一种基于人体运动的考虑节奏相似性的仿人机器人复杂动态动作设计方法. 首先, 把人体的运动分割成基本动作段, 给出了运动学约束, 讨论了复杂动态动作的稳定性调节方法. 然后, 提出了考虑运动节奏的仿人机器人模仿人体动作的相似性函数, 并给出了满足运动学约束和动力学稳定性、具有高相似性的运动轨迹求解方法. 最后, 通过在仿人机器人 BHR-2 上进行中国功夫``刀术'实验验证了该方法的有效性. 相似文献
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自然步态规划方法是实现仿人机器人步态柔顺和能量优化的可行方法,该方法要求对人体步行及其平衡策略进行定量研究.本文分析自然步态规划方法的原理,建立了一套快捷有效的人体步态测试系统,并通过实验建立了人体步行的参数化数据库.实验结果揭示了人体步行的参数化特征及其平衡策略,对于仿人机器人的自然步态规划及控制提供了理论指导.结论特别指出,仅仅通过规划的方式实现仿人机器人的自然步态是不完备的,自然步态的实现必须同仿生控制策略相结合.同时实验结论对于仿人机器人的本体优化设计也提供了参考. 相似文献
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为了进一步提高仿人机器人步行时的稳定性,通过对人类步行的研究,并从两足步行机的两步步态规划方法中得到启发,对仿人机器人步行也进行类似的两步规划,但由于结构上的不同,仿人机器人中采用加入上肢运动补偿的方式实现平衡.规划仿人机器人的运动姿态,然后根据零力矩点必须落在稳定区域的原则,对仿人机器人的上肢运动轨迹进行求解,通过这种加入上肢补偿的两步规划来实现仿人机器人的稳定步行.从实验结果可以看出,采用这种两足步态规划方法,在仿人机器人两足步行时,可以使机器人上肢与下肢协调运动,从而提高了步行的稳定性. 相似文献
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模拟人的肌肉驱动方式,为双足机器人HEUBR-1 设计了二自由度的空间并联机构,并将其应用于双
足机器人HEUBR-1 下肢关节,实现了一种新的串并混联的仿人下肢结构.在HEUBR-1 的足部增加了足趾关节,使
机器人能够模拟人的行走方式,实现真正的拟人步态行走.阐述了双足机器人HEUBR-1 稳定拟人行走的关键性技
术,提出了综合稳定性判据,分析了拟人的多种步态.通过拟人行走步态实验分析,验证了双足机器人HEUBR-1 串
并混联的仿人结构的设计合理性及拟人步态分析的准确性. 相似文献
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《Advanced Robotics》2013,27(6):633-652
The authors are engaged in studies of biped walking robots from the following two viewpoints. One is a viewpoint as a human science. The other is a viewpoint towards the development of humanoid robots. In the current research concerning a biped walking robot, there is no developed example of a life-size biped walking robot with antagonistically driven joints by which the human musculo-skeletal system is imitated in the lower limbs. Humans are considered to exhibit walking behavior which is both efficient and capable of flexibly coping with contact with the outside environment. However, developed biped walking robots cannot realize human walking. The human joint is driven by two or more antagonistic muscle groups. Humans can vary the joint stiffness, using nonlinear spring characteristics possessed by the muscles themselves. The function is an indispensable function for a humanoid. Therefore, the authors designed and built an anthropomorphic biped walking robot having antagonistic driven joints. In this paper, the authors introduce the design method of the robot. The authors performed walking experiments with the robot. As a result, a quasi-dynamic biped walking using antagonist driven joint was realized. The walking speed was 7.68 s per step with a 0.1 m step length. 相似文献
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This paper describes walking control algorithm for the stable walking of a biped humanoid robot on an uneven and inclined
floor. Many walking control techniques have been developed based on the assumption that the walking surface is perfectly flat
with no inclination. Accordingly, most biped humanoid robots have performed dynamic walking on well designed flat floors.
In reality, however, a typical room floor that appears to be flat has local and global inclinations of about 2°. It is important
to note that even slight unevenness of a floor can cause serious instability in biped walking robots. In this paper, the authors
propose an online control algorithm that considers local and global inclinations of the floor by which a biped humanoid robot
can adapt to the floor conditions. For walking motions, a suitable walking pattern was designed first. Online controllers
were then developed and activated in suitable periods during a walking cycle. The walking control algorithm was successfully
tested and proved through walking experiments on an uneven and inclined floor using KHR-2 (KAIST Humanoid robot-2), a test
robot platform of our biped humanoid robot, HUBO. 相似文献
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Keli Shen Xiang Li Hongzhi Tian Takayuki Matsuno Mamoru Minami 《Artificial Life and Robotics》2018,23(2):261-270
In this paper, biped walking posture and design are evaluated through dynamic reconfiguration manipulability shape index (DRMSI). DRMSI is the concept derived from dynamic manipulability and reconfiguration manipulability with remaining redundancy. DRMSI represents the ability of dynamical system of manipulators possessing shape changing acceleration in task space by normalized torque inputs, while the hand motion is assigned as the primary task. Besides, we use visual lifting approach to stabilize the walking and stop falling down. In this research, the primary task is to make the position of the head direct to the desired one as much as possible. And realizing the biped walking is the second task. This research indicates that proposed dynamical-evaluating index is effective in evaluating the biped walking motion and biped humanoid robot has the adjustable configuration to walk with higher flexibility. Flexibility represents the dynamical shape changeability of humanoid robot based on redundancy of the humanoid robot with the premise of the primary task given to keeping the head position high. 相似文献
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《Advanced Robotics》2013,27(4):415-435
This paper describes position-based impedance control for biped humanoid robot locomotion. The impedance parameters of the biped leg are adjusted in real-time according to the gait phase. In order to reduce the impact/contact forces generated between the contacting foot and the ground, the damping coefficient of the impedance of the landing foot is increased largely during the first half double support phase. In the last half double support phase, the walking pattern of the leg changed by the impedance control is returned to the desired walking pattern by using a polynomial. Also, the large stiffness of the landing leg is given to increase the momentum reduced by the viscosity of the landing leg in the first half single support phase. For the stability of the biped humanoid robot, a balance control that compensates for moments generated by the biped locomotion is employed during a whole walking cycle. For the confirmation of the impedance and balance control, we have developed a life-sized humanoid robot, WABIAN-RIII, which has 43 mechanical d.o.f. Through dynamic walking experiments, the validity of the proposed controls is verified. 相似文献
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基于ODE 引擎的开放式仿人机器人仿真 总被引:2,自引:0,他引:2
为了获得灵活、开放、简洁的仿真功能,提出了一种基于ODE(open dynamics engine)的仿人机器人
仿真平台集成方案.将基于ODE 的仿人机器人仿真系统开发过程定义为两类运算:变换叠加和关节叠加,并设计
了这两类叠加的ODE 算法.将仿人机器人结构描述为一个设计者和计算机都可以理解的结构表,将该结构表翻译
为ODE 基本元素实现仿真.设计并实现了一个基于所提出方案的仿人机器人仿真平台,根据基于倒立摆的步态规
划思想,设计并在仿真平台上实现了双足步行的仿真实验.实验证明了文中方法的有效性. 相似文献
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提出利用机器人质心(CoM)雅克比矩阵,实现全身协调补偿的算法。提出机器人的简化模型;分析基于CoM雅克比矩阵的补偿算法;采用CoM/ZMP(零点矩点)、减振和软着陆控制器实时控制双足步行,实现机器人全身协调的稳定控制;通过仿人机器人AFU09的双足步行实验证明该控制方法的有效性。 相似文献