给定手部作业轨迹的仿人机器人推操作研究

被引：3

作者：

肖涛 ^{[1
]}

黄强 ^{[2
]}

杨洁 ^{[2
]}

余张国 ^{[2
]}

张伟民 ^{[2
]}

机构：

[1] 中国空间技术研究院北京空间飞行器总体设计部

[2] 北京理工大学宇航科学技术学院智能机器人研究所

来源：

机器人 | 2008年 / 05期

关键词：

仿人机器人; 推操作; 手臂操作性; 作业稳定性;

D O I：

10.13973/j.cnki.robot.2008.05.001

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

以推车作业为例对"汇童"仿人机器人动态行走中的推操作进行了研究,分析了手部位置与腰部位移的关系,对作业运动中手部轨迹的补偿进行了研究.另外,作业中机器人与车之间存在相互作用,根据作业的期望作用力,开展了基于ZMP稳定性判据的作业运动稳定性控制研究.仿真和实验验证了该方法的有效性,它能满足推车作业手臂操作性和运动稳定性要求.

引用

页码：385 / 391

页数：7

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