仿人机器人上下肢摆动规律研究

杜美林; 郭祖华; 孟偲

doi:10.13433/j.cnki.1003-8728.20190264

仿人机器人上下肢摆动规律研究

doi: 10.13433/j.cnki.1003-8728.20190264

北京航空航天大学宇航学院，北京　102206

基金项目: 国家自然科学基金重大研究计划重点项目（91748201）资助

详细信息

作者简介:
杜美林（1996−），硕士研究生，研究方向为仿人机器人平衡控制及仿真，dumeilin@buaa.edu.cn

通讯作者:
郭祖华，副教授，guozuhua@buaa.edu.cn

中图分类号: TP242
计量
- 文章访问数: 370
- HTML全文浏览量: 140
- PDF下载量: 90
- 被引次数: 0
出版历程
- 收稿日期: 2019-05-23
- 网络出版日期: 2020-08-26
- 刊出日期: 2020-08-05

Exploring Swing Mechanism of Upper and Lower Limbs of Humanoid Robot

School of Astronautics, Beihang University, Beijing 102206, China

摘要

摘要: 研究了仿人机器人上下肢摆动参数对步行能耗的影响，进而提出了实现仿人机器人低能耗行走的肢体摆动策略。通过将四肢抽象成单摆，建立了机器人的简化模型，据此求解机器人行走时所受的转身力矩；用非小角度假设情况下单摆摆角的近似解来描述四肢摆动角的变化规律，并分析了步行运动时的能耗机理，给出了简化模型下计算功耗的方法。以某仿人机器人模型为算例，研究了肢体摆动频率对机器人行走功耗的影响；提出了在给定行走速度时，保证机器人转身力矩在一定范围内变化的前提下，省能量的上下肢摆动幅度/频率的规划策略。仿真计算表明，采用文中提出的肢体摆动规律有利于降低仿人机器人的行走功耗。
- 仿人机器人 /
- 步行能耗 /
- 单摆
Abstract: The influence of the swing parameters of the upper and lower limbs of a humanoid robot on its walking energy consumption is studied. The swing mechanism of a limb with low energy consumption is proposed. Abstracting the limb into a single swing, a simplified model of the humanoid robot is established and then used to solve the robot's turning moment during its walking. The approximate solution of the pendulum angle under the non-small angle hypothesis is used to describe the variation of the limb's swing angle. The energy consumption mechanism of the walking is analyzed, and the method of calculating energy consumption under the simplified model is given. Taking the humanoid robot model as example, the influence of the swing frequency of the limb on the power consumption of the robot during its walking is studied. Given the walking speed, the energy-saving planning strategy of upper and lower limbs' swing amplitude/frequency was proposed under the premise that the turning moment of the robot varies in a certain range. The calculation results show that the limb swing law proposed in the paper helps to reduce the energy consumption of the walking humanoid robot.
- humanoid robot /
- energy consumption of walking /
- simple pendulum

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图 1 机器人模型示意及部分坐标系定义

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图 2 单摆受力分析图

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图 3 四肢摆动功率消耗随ω和${A_a}$的变化

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图 4 根据扭转稳定性判据确定${A_a}$

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表 1 各关节对应的转角

关节	欧拉角	参数说明
腰关节	${\theta _1}$	俯身（绕Y轴）
	${\theta _2}$	转身（绕Z轴）
	${\theta _3}$	侧身（绕X轴）
左肩关节	${\theta _4}$	左右摆（横摆）
左肩关节	${\theta _5}$	前后摆（纵摆）
右肩关节	${\theta _6}$	左右摆（横摆）
右肩关节	${\theta _{\rm{7}}}$	前后摆（纵摆）
左髋关节	${\theta _{\rm{8}}}$	左右摆（横摆）
左髋关节	${\theta _{\rm{9}}}$	前后摆（纵摆）
右髋关节	${\theta _{10}}$	左右摆（横摆）
右髋关节	${\theta _{11}}$	前后摆（纵摆）

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表 2 仿人机器人参数表

参数	上肢	下肢	躯干和头部	总体
质量/kg	3.629	11.685	41.948	72.576
长度/m	0.709 6	0.975	0.535	1.80

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表 3 步态参数选择

腿摆幅A_l/(°)	步幅/m	摆动角频率/(rad·s⁻¹)	周期T/s	速度v/(km·h⁻¹)	胳膊摆幅A_a/(°)	最大转身力矩/(N·m)	P₀/W	P₁/W	P/W
12	0.4	3.890	1.615	1.8	10	3.485	22.31	0.33	22.64
15	0.5	3.884	1.618	2.2	18	3.808	32.75	1.06	33.81
18	0.6	3.877	1.621	2.7	20	4.621	45.42	1.33	46.75
21	0.7	3.868	1.624	3.1	22	5.376	60.23	1.66	61.89
24	0.8	3.858	1.629	3.5	26	5.927	77.14	2.33	79.47

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表 4 通过增大步频提高速度（腿的摆幅为18°）

摆动角频率ω/(rad·s⁻¹)	速度v/(km·h⁻¹)	胳膊摆幅A_a/(°)	最大转身力矩/(N·m)	P₀/W	P₁/W	P/W
2.154	1.5	14	1.580	25.23	5.79	31.02
2.585	1.8	16	2.201	30.28	5.89	36.17
3.159	2.2	18	3.176	37.01	4.88	41.89
3.877	2.7	20	4.621	45.42	1.33	46.75
4.451	3.1	22	5.788	52.14	5.84	57.98
5.026	3.5	24	7.247	58.88	11.97	70.85
5.600	3.9	26	8.674	65.60	22.02	87.62
6.174	4.3	28	9.874	72.33	36.29	108.62
6.749	4.7	30	11.590	79.06	54.88	133.94
7.323	5.1	30	13.930	85.79	76.72	162.51

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