[1]胡胜海,徐鹏,邓坤秀,等.考虑脚掌转动的跳跃机器人动力学与轨迹规划[J].哈尔滨工程大学学报,2011,(12):1065-1069.[doi:doi:10.3969/j.issn.1006-7043.2011.12.014]
 HU Shenghai,XU Peng,DENG Kunxiu,et al.Dynamic and trajectory planning of a hopping robot based on rotation of the sole[J].Journal of Harbin Engineering University,2011,(12):1065-1069.[doi:doi:10.3969/j.issn.1006-7043.2011.12.014]
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考虑脚掌转动的跳跃机器人动力学与轨迹规划(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2011年12期
页码:
1065-1069
栏目:
出版日期:
2011-12-25

文章信息/Info

Title:
Dynamic and trajectory planning of a hopping robot based on rotation of the sole
文章编号:
1006-7043(2011)12-1605-05
作者:
胡胜海徐鹏邓坤秀郭彬
哈尔滨工程大学 机电工程学院,黑龙江 哈尔滨 150001
Author(s):
HU ShenghaiXU PengDENG KunxiuGUO Bin
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
关键词:
跳跃机器人动力学欠驱动轨迹规划非线性误差最小化
分类号:
TP242
DOI:
doi:10.3969/j.issn.1006-7043.2011.12.014
文献标志码:
A
摘要:
针对目前腿式跳跃机器人模型的局限性,考虑脚掌在跳跃过程中的作用,设计了一种由电机驱动的欠驱动双关节弹跳机器人.在起跳相和落地相,脚掌与地面的关系建模成弹簧-阻尼系统,由于脚掌的转动,在足尖处存在一个被动的自由度,系统产生了欠驱动.采用广义坐标,建立了机器人拉格朗日动力学模型,确定了跳跃运动的约束条件.基于跳跃机器人等价的二连杆模型进行了跳跃运动轨迹规划,并给出了一个期望轨迹与实际轨迹非线性误差最小化的曲线方程.仿真和样机实验验证了跳跃机器人模型和轨迹规划方法的正确性,为后续机器人运动控制和系统优化设计奠定了理论基础.

参考文献/References:

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备注/Memo

备注/Memo:
高等学校博士学科点专项科研资助项目(20092304120014);中央高校基础教育专项基金资助项目(HEUCF100716)
更新日期/Last Update: 2012-03-02