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以实现仿人机器人稳定快速的全方位步行运动为目的,针对现有多体动力学模型描述的复杂性缺陷,及其他全方位运动策略不考虑步幅连接的问题,采用通用的运动学参数描述机器人的单步运行过程,并提出全新的全方位运动小车模型以描述步幅间连接约束,进而给出了步幅间过渡算法.在将全方位步行参数化的基础上,提出一种标准工况作为全方位运动的性能评价指标.通过动力学仿真和样机实验验证了该方法的有效性以及步幅连接算法存在的必要性.
In order to realize the steady and rapid all-directional walking movement of the humanoid robot, aiming at the complexity defects described by the existing multibody dynamics model and other omni-directional motion strategies without regard to the problem of stride connection, a general kinematic parameter description Robot’s single-step operation process, and proposed a new all-round sports car model to describe the connection constraints between steps, and then gives the transition between stride algorithm.Based on the omni-directional walking parameterization, a standard worker As a performance evaluation index of all-round sports, the validity of this method and the necessity of the connection of stride connection are verified by dynamic simulation and prototype experiments.