论文标题
规划脚趾脚的双足动物机器人上楼的Brachistochrone髋关节轨迹
Planning Brachistochrone Hip Trajectory for a Toe-Foot Bipedal Robot going Downstairs
论文作者
论文摘要
提出了一个新型的有效轨迹，该轨迹是针对脚趾脚的9个链接的Biped机器人模型。 Brachistochrone是仅在重力影响下移动的粒子的最快下降轨迹。在大多数情况下，在楼下攀爬时，人髋关节也遵循腕骨抗体轨迹，以进行更响应的运动。在这里，开发了一种自适应轨迹计划算法，以便使链路长度有不同的链路长度，群众可以在不同的楼梯尺寸上爬下来。我们假设重心的重心（COG）涉及臀部。考虑了基于零的矩（ZMP）COG轨迹，并确保其稳定性。对于秋千腿的踝关节，考虑了循环轨迹。旋转和腕骨的参数都取决于楼梯步骤的尺寸。因此，本文可以将本文大致分为4个步骤1）通过适当的碰撞约束来开发基于ZMP的腕足轨迹2）用于踝关节的环形轨迹计划3）使用无易经的人工神经网络（ANN）比较拟议的循环旋转型和基于循环的slope hip hip hip hip hip hip hip hip hip hip hip hip hip hip hip hip hip hip hip hip hip hip hip hip hip hip hip hip hip，提出的算法已使用MATLAB实现。
A novel efficient downstairs trajectory is proposed for a 9 link biped robot model with toe-foot. Brachistochrone is the fastest descent trajectory for a particle moving only under the influence of gravity. In most situations, while climbing downstairs, human hip also follow brachistochrone trajectory for a more responsive motion. Here, an adaptive trajectory planning algorithm is developed so that biped robots of varying link lengths, masses can climb down on varying staircase dimensions. We assume that the center of gravity (COG) of the biped concerned lies on the hip. Zero Moment Point (ZMP) based COG trajectory is considered and its stability is ensured. Cycloidal trajectory is considered for ankle of the swing leg. Parameters of both cycloid and brachistochrone depends on dimensions of staircase steps. Hence this paper can be broadly divided into 4 steps 1) Developing ZMP based brachistochrone trajectory for hip 2) Cycloidal trajectory planning for ankle by taking proper collision constraints 3) Solving Inverse kinematics using unsupervised artificial neural network (ANN) 4) Comparison between the proposed, a circular arc and a virtual slope based hip trajectory. The proposed algorithms have been implemented using MATLAB.
