摘要
针对为了控制支撑脚与地面接触的零力矩点(ZMP)而无法控制骨盆与自由足的运动的问题,以腿部11个自由度的NAO机器人为研究对象,在对NAO机器人进行运动规划过程中必须适当考虑骨盆与自由足的运动限制,采用了Bryant角度进行限制和对骨盆的平移运动能够改善单支撑阶段的ZMP控制,并同时合成骨盆的旋转运动,对自由足姿态实现全面控制。
The leg of the NAO robot has 11 degrees of freedom,but is unable to control the movement of the pelvis and the free foot in order to fully control the zero moment point(ZMP)that the support foot is in contact with the ground.Therefore,we must consider the movement limitation of the pelvis and the free foot in the course of motion planning,i.e.to join the Bryant's angle limitation,to improve the control of the ZMP in the single support stage,and to synthesize the rotational movement of the pelvis,so as to fully control the free-foot posture.
作者
孙军
富一丰
邵东
SUN Jun;FU Yifeng;SHAO Dong(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang 110168,China)
出处
《机械与电子》
2020年第2期76-80,共5页
Machinery & Electronics
