仿人双足步行机器人建模与仿真.pdf

仿人双足步行机器人建模与仿真 摘 要 仿人双足步行机器人的设计旨在实现仿人双足机器人的行走功能，并要求保证 双足机器人行走时的稳定性。 在调研了双足机器人的背景、历史及现状后，分析了双足机器人的自由度配置、 建立了机器人的主体结构模型。接着通过分析双足机器人的动力学特性，得出了机 器人在各种姿态下各关节的扭矩情况；并应用倒立摆规划法规划了机器人行走时的 步态，得出了机器人在行走过程中各个关节的转角变化情况。在上述工作的基础上， 对机器人模型进行了仿真，记录并分析了仿真结果。最后，分析了设计中的不足之 处并提出了改进的策略。 双足机器人的动力学分析和步态规划是实现机器人双足步行的关键两点。通过 分析，提出了一种递推式动力学分析方案，并应用这种方案分析了机器人单足支撑 阶段、双足支撑阶段的动力学。规划机器人步态的方法采用的是倒立摆模型规划法， 提出了倒立摆模型规划法的步骤；在判定机器人步态的稳定性时，采用了 ZMP 稳 定判据的方法。 关键词：仿人机器人，双足步行，步态规划，稳定性 I 仿人双足步行机器人建模与仿真 Abstract The biped walking humanoid robot design is aimed to controll the walking of the biped, and sought assurances the stability during operation. At first,we introduced the background of the biped robot as well as its history and the present condition.Then,we analysed the DOF configuration of the biped robot and presented the biped’s model. Then, we did the analysis of the dynamics of the robot, coming the results of the joint torque values when the robot in various postures and planned the robot walking gait, applicating inverted pendulum planning, and got the results of the changes in various of joint angle during the robot walking course. After that, we simulate the robot in simulation software and recorded and analysed the data. In the end of this text, we analysed the inadequacies and proposed strategies to improve. The article focused on the analysis of dynamics and planning gait of the biped robot. They are the two key points to achieve stable biped robot walking. Through the analysis, we lodged a recursive method for dynamic analysis, and applicated the method to analyse the robots dynamic in one foot support phase and two foot suport phase. W