Trojnacki Maciej T, Zielińska Teresa
Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland.
Acta Bioeng Biomech. 2011;13(2):45-56.
In this paper, the method of generating biped robot motion using recorded human gait is presented. The recorded data were modified taking into account the velocity available for robot drives. Data includes only selected joint angles, therefore the missing values were obtained considering the dynamic postural stability of the robot, which means obtaining an adequate motion trajectory of the so-called Zero Moment Point (ZMT). Also, the method of determining the ground reaction forces' distribution during the biped robot's dynamic stable walk is described. The method was developed by the authors. Following the description of equations characterizing the dynamics of robot's motion, the values of the components of ground reaction forces were symbolically determined as well as the coordinates of the points of robot's feet contact with the ground. The theoretical considerations have been supported by computer simulation and animation of the robot's motion. This was done using Matlab/Simulink package and Simulink 3D Animation Toolbox, and it has proved the proposed method.
本文提出了一种利用记录的人类步态生成双足机器人运动的方法。考虑到机器人驱动器可用的速度，对记录的数据进行了修改。数据仅包括选定的关节角度，因此考虑到机器人的动态姿势稳定性来获取缺失值，这意味着获得所谓零力矩点（ZMP）的适当运动轨迹。此外，还描述了确定双足机器人动态稳定行走过程中地面反作用力分布的方法。该方法由作者开发。在描述了表征机器人运动动力学的方程之后，象征性地确定了地面反作用力分量的值以及机器人脚部与地面接触点的坐标。理论考虑得到了机器人运动的计算机模拟和动画的支持。这是使用Matlab/Simulink软件包和Simulink 3D动画工具箱完成的，并且证明了所提出的方法。
