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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, PP. 1006-1013

Keywords: 仿人机器人,相似性,约束,零力矩点,参数化优化

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Abstract:

?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.

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