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基于单自由度腰关节的仿人机器人上身运动规划

Keywords: 仿人机器人,腰关节,上身,运动规划

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Abstract:

针对仿人机器人上身的运动规划问题,提出一种新的规划算法.首先,运用机构学和机器人学的知识根据人体的生理结构特征建立上身的运动学模型.其次,从腰关节和人臂的不同运动特征出发对其分别提出了关节位移和舒适度-势能指标,构成人体上身的运动性能指标.再次,基于得到的上身运动性能指标利用梯度投影法提出仿人机器人上身的运动规划算法.最后,利用Matlab进行数值仿真,并与人体上身运动实验结果进行对比,从而验证该算法的可行性及合理性.

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