【摘要】 对两足溜冰机器人的地面反作用力进行了分析与计算,提出了应用凸优化方法进行地面反作用力的建模方法。在合理假设的基础上,将地面反作用力建模问题转换为在一定约束条件下使碰撞后的溜冰机器人动能达到最小的问题,并转化为凸优化的标准形式。应用凸优化程序CVX进行了地面反作用力的计算与仿真,结果证明了该方法的有效性。更多还原

【Abstract】 The ground reaction force for a biped skating robot was calculated and analyzed,and a modeling method for the ground reaction force by using convex optimization was proposed. On the basis of reasonable assumption,the modeling of ground reaction force was transformed as a minimization problem of robot kinetic energy after collision under condition with certain constrains,and as a standard convex optimization form. By using CVX software of convex optimization to calculate and simulate the ground reaction force,the results prove the effectiveness of the method.更多还原