参数化优化的仿人机器人相似性前向倒地研究

柯文德; 崔刚; 洪炳; 蔡则苏; 朴松昊; 钟秋波

doi:10.3724/SP.J.1004.2011.01006

参数化优化的仿人机器人相似性前向倒地研究

doi: 10.3724/SP.J.1004.2011.01006

柯文德^1,2,
崔刚¹,
洪炳¹,
蔡则苏¹,
朴松昊^1, ,,
钟秋波¹

1.
哈尔滨工业大学计算机科学与技术学院哈尔滨 150001;
2.
广东石油化工学院计算机科学与技术系茂名 525000

详细信息

通讯作者:
朴松昊哈尔滨工业大学计算机科学与技术学院副教授. 2004年获哈尔滨工业大学计算机科学与技术学院博士学位.主要研究方向为多机器人系统和智能控制.本文通信作者.E-mail: piaosh@hit.edu.cn

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出版历程
- 收稿日期: 2010-12-08
- 修回日期: 2011-05-17
- 刊出日期: 2011-08-20

Falling Forward of Humanoid Robot Based on Similarity withParametric Optimum

1.
School of Computer Science, Harbin Institute of Technology, Harbin 150001;
2.
Department of Computer Science, Guangdong University of Petrochemical Technology, Maoming 525000

摘要

摘要: 提出了一种基于运动相似性的仿人机器人前向倒地动作设计方法.首先,分析了运动相似性并提出了关键姿势同步转换方法; 其次,为机器人前向倒地运动四级倒立摆建立了相似性变换条件下的动力学约束方程与关联的物理条件约束; 再次,引入参数化优化控制与强化技术,对机器人的触地过程进行了参数化优化.实验结果表明了该方法的有效性.
- 仿人机器人 /
- 相似性 /
- 约束 /
- 零力矩点 /
- 参数化优化
Abstract: The designing method of falling-forward locomotion of a humanoid robot based on the locomotion similarity is proposed. Firstly, the locomotion similarity is analyzed and the synchronous transition for key postures is proposed. Then, the kinetics constraint equations and the associated physical constraints for the 4-level headstand pendulum of robot's falling-forward locomotion are constituted under the condition of similarity transition. Finally, the method based on the parametric control and enhancing technique is adopted to optimize the parameters in the touching ground process of falling forward. The experiments showed the validity of this designing method.
- Humanoid robot /
- similarity /
- constraint /
- zero moment point (ZMP) /
- parametric optimum

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参考文献(1)

[1]

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