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基于在线ZMP校正的下肢外骨骼上楼梯步态规划
Authors
于振中
姚锦涛
Publication date
1 January 2020
Publisher
Editorial Office of Journal of Mechanical Transmission
Doi
Cite
Abstract
为提高下肢外骨骼机器人上楼梯的稳定性,合理的步态规划与误差校正是至关重要的两个方面,为此,提出一种上楼梯过程中零力矩点(ZMP)的在线校正方法。首先,建立下肢上楼梯的运动模型,并进行运动学分析,利用5次B样条曲线进行下肢关节轨迹规划。其次,针对由穿戴过程中人不稳定扰动作用造成的实际与规划ZMP轨迹之间的较大误差,采用在线ZMP校正进行调节。最后,通过仿真和实际实验证明,这种在线校正能够明显减小机器人的ZMP误差,提高机器人ZMP的稳定裕度,保证下肢机器人系统的整体稳定性
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Last time updated on 06/04/2023