基于不稳定度的仿人型机器人步态规划方法

为了保证机器人能够在人类的生活环境中安全地工作,应该选择最稳定的运动轨迹.提出了一种能够评价不同的运动步态之间稳定性好坏的稳定性评价准则.将零力矩点(ZMP,Zero Moment Point)与机器人支撑区域的形心之间的距离定义为不稳定度,分析了仿人型机器人行走过程中几种典型步态的不稳定度,同时提出了基于不稳定度的仿人型机器人步态规划的方法.当采用多种运动步态都能完成同一种任务时,用所提出的不稳定度评价方法可以在不同步长的步态中选择出稳定性最好的运动步态来执行.仿真及实验结果验证了该方法的有效性.

Motion planning for humanoid robot based on instability capacity

In order to ensure that the robot can work safely in human's living environment,the most stable trajectory should be selected to finish the task.A new stability evaluating criterion which can be used to evaluate the stability of different walking patterns of the humanoid robot was proposed.The distance between the ZMP(zero moment point) and the center of the supporting region was defined as instability capacity,and the instability capacities of several typical walking patterns were analyzed.In addition,the motion planning method based on instability capacity was proposed.In some cases,for an appointed task,many kinds of motions which have different step length can be used to finish the task,and the most suitable trajectory can be selected among those feasible trajectories using the instability capacity evaluating method.The effectiveness of this method was proved by simulation results.