借助外力助推的双足机器人越障及避障方法研究

doi:10.12052/gdutxb.180124

Abstract

Abstract: A study is conducted on bipedal robot stepping over large-size obstacles without collision with the assistance of extra external forces. Because the humanoid robot needs to shift greatly its center of gravity when crossing large-size obstacles, it is prone to fall or the crossed distance is limited. The method of adding external forces can effectively improve the robot's crossing performance. Firstly, a simulation model of biped robot is established by tree-shape data structure as well as relative axis vector and relative position vector. Then, by planning multiple order curves of stepping trajectory, introducing local obstacle avoidance of nonlinear constraints in the whole process along with the other nonlinear constraints, a changeable variable nonlinear optimal model is established for the bipedal robot to surmount and avoid obstacles. In the end, the 2D gait of obstacle crossing and avoidance of the plane 6 freedom redundant robot is designed. It is verified by the simulation to cross the obstacle with a height up to 43% of its legs. Finally, the prototype steps over a 15 cm-high obstacle, which reaches 32% of its leg length, and the effectiveness of the method is verified.

Key words: bipedal robot, obstacle stepping-over, obstacle avoidance, redundant robot, extra external forces

CLC Number:

TP242

Liu Biao, Huang Zhi-feng, Zhang Yun. A Research on Biped Robot's Obstacle Stepping Over and Avoidance Assisted by External Forces[J].Journal of Guangdong University of Technology, 2019, 36(02): 62-69.

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