【摘要】 为了实现快速稳定的射门动作,提出了一种基于三质心模型的类人机器人射门轨迹规划方法。首先,根据三质心模型,得到包含游动腿轨迹和躯干轨迹的零力矩点(ZMP)方程,采用三次贝塞尔曲线规划游动腿轨迹和ZMP轨迹,根据ZMP方程求解出类人机器人的躯干轨迹;其次,在双腿支撑相根据线性摆模型计算类人机器人的质心轨迹,实现射门姿态的快速调整;最后,在RoboCup 3D仿真平台中应用此算法实现了类人机器人的快速射门动作,并与其他球队的射门动作进行了对比。实验结果表明:应用该算法仅需手工调试即可快速实现稳定的射门动作,射门动作时间有很大减少,可增强机器人足球队的竞争力。更多还原

【Abstract】 To achieve rapid and stable shooting action, a shooting trajectory planning method of humanoid robot was proposed based on three-mass model. Firstly, Zero Moment Point( ZMP) equations containing body and swing leg trajectory were obtained based on the three-mass model of humanoid robot. After the trajectories of swing leg and ZMP were planned by cubic Bezier curve, the body trajectory of humanoid robot could be obtained by solving the ZMP equations. Secondly, during the double-support phase,the center of mass trajectory of humanoid robot was calculated based on linear pendulum model,then quick adjustment of shooting posture could be achieved. Finally, fast shooting action of humanoid robot based on this method was realized on RoboCup 3D simulation platform, and comparisons with the shoot action of other teams were made. The experimental results show that stable shooting action can be quickly achieved only by manual debugging based on this method, time of shooting action is greatly reduced, and the competitiveness of robot soccer team can be enhanced.更多还原