Falling Forward of Humanoid Robot Based on Similarity withParametric Optimum
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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.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.
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Key words:
- Humanoid robot /
- similarity /
- constraint /
- zero moment point (ZMP) /
- parametric optimum
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