【作者】 黄春林；

【导师】 张祺；

【作者基本信息】 广东工业大学 ， 控制理论与控制工程， 2011， 硕士

【摘要】 双足机器人因其灵活的步行能力和类人的行为而具有广泛的应用前景,其步态的稳定性已成为研究热点。步态规划是机器人实现稳定步行的基础和实现类人动作的关键。本文在在收集、整理和分析相关文献资料的基础上,以双足机器人为研究对象,借助RoboCup3D仿真平台,对双足机器人的步态规划进行研究。本文主要工作如下：1.采用三次样条插值算法规划步态。根据关键时刻主要关节的位姿,基于三次样条插值算法,在满足步行环境,几何约束和物理结构的条件下,在径向和侧向平面中,分别规划出踝关节、髋关节在整个步行运动周期内的轨迹。再利用几何关系通过双平面的合成计算得到膝关节、脚掌等双足机器人下肢主要部位的运动轨迹。2.利用粒子群算法对步态参数进行优化,得到稳定裕度大的平滑步态。首先分析了步态参数对步态稳定性的影响,然后根据双足机器人步行过程中单、双足支撑期的特点,分别构造了稳定裕度评估函数,并综合步行特征得到了步态优化的目标函数。最后采用粒子群算法优化步态参数,得到稳定裕度大的步态。3.在MATLAB环境中和RoboCup3D仿真平台上进行实验。在MATLAB环境中规划得到期望的双足机器人各关节步行运动轨迹和稳定裕度大的ZMP轨迹,能够较好满足双足机器人稳定性原则。然后,在RoboCup3D仿真平台中,将已规划好的步态应用到仿真Nao机器人,通过统计仿真Nao机器人步行过程中的相关数据,验证三次样条插值规划方法的有效性和粒子群步态优化算法的优越性。最后进行了总结,说明了本文的主要研究成果,同时对课题中需要改进之处提出了展望。更多还原

【Abstract】 Biped robot has great application prospect because of its flexible walking ability and humanoid action, the stability of its gait has become a hot issue. Gait planning is the basics for the robot to walk stably and the key part to implement humanoid motion. In this dissertation, with RoboCup3D simulation platform, the research on walking motion planning of biped robot has been done based on the collection, collation and analysis of relevant literatures. The primary contents are as follows:1. Using the cubic spline interpolation algorithm to plan the gait. In the sagittal and lateral plane, according to the main joint postures of critical moments, the walking patterns of ankle and hip joint have been planned in the walking cycle based on the cubic spline interpolation algorithm. And the planning gaits must meet all the conditions such as walking environment, geometric constrains and robot’s structure. Finally, the trajectories of knee, foot and other parts of the biped robot are obtained by calculating with the geometric relationship between the two planes.2. Using the particle swarm optimization algorithm to optimize parameters of gait and generate a smooth gait with large stability margin. Firstly, the dissertation analyzes the effection of gait parameters on gait stability. Secondly, this assement function of stability margin is constrcuted according to the characteristics of walking biped robot in single-support and double-support phase, and the target evaluation function used for evaluating the gait stability is obtained in the process of synthesizing respectively and completely on walking features. Finally, optimizing the gait parameters with particle swarm optimization algorithm and obtaining perfect gait with large stability margin which achieve the purpose of gait optimization.3. Do experiments in the MATLAB environment and RoboCup3D simulation platform. Planning the desired walking motion trajectories of biped robot and the ZMP trajectory with large stability margin in the MATLAB, which can meet the principle of stability of biped robot. Then, the planned gait has been used on the biped robot Nao on the simulation platform in RoboCup3D. With statistical simulation data in the Nao robot walking process, it can verify the effectiveness of cubic spline interpolation algorithm and the advantages of PSO algorithm in planning biped gait.At the end of this dissertation, the main research is summarized. It makes out the main research results, and also the problems which need to further research.更多还原