仿人机器人站立到爬梯子转换动作的研究与实现

doi:10.12068/j.issn.1005-3026.2013.11.026

东北大学学报（自然科学版） ›› 2013, Vol. 34 ›› Issue (11): 1630-1633.DOI: 10.12068/j.issn.1005-3026.2013.11.026

仿人机器人站立到爬梯子转换动作的研究与实现

陆志国

(东北大学机械工程与自动化学院，辽宁沈阳110819)

发布日期:2013-07-09
通讯作者: 陆志国
作者简介:陆志国(1982-)，男，辽宁锦州人，东北大学讲师，博士.
基金资助:
中央高校基本科研业务费专项资金资助项目(N120403016，N110303005)；东北大学引进人才科研启动经费项目(02090021233041).

Study and Realization of Transition Motion from Biped Standing to Ladder Climbing for a Humanoid Robot〓

LU Zhiguo

School of Mechanical Engineering & Automation，Northeastern University， Shenyang 110819， China.

Published:2013-07-09
Contact: LU Zhiguo
About author:-
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摘要/Abstract

摘要： 研究了由平地到竖直梯子变环境边界条件下，仿人机器人由站立到爬梯子的动作转换.为提高机器人上梯子过程的稳定性，机器人首先双手抓握住梯子横档作为辅助支撑，在机器人向梯子行走过程中，通过检测双手与梯子横档的接触力大小来调整仿人机器人身体重心相对于支撑脚的位置，从而保持身体的平衡.实验结果证明:该控制策略可有效避免因环境参数误差，外力干扰，以及机器人关节初始角度误差等引起的机器人跌倒问题，从而保证机器人由站立到爬梯子转换动作的顺利进行.

关键词: 变环境边界, 仿人机器人, 站立, 爬梯子, 跌倒

Abstract: The transition motion from biped standing to ladder climbing was investigated with a humanoid robot under the changed environmental boundary condition. To improve the stability in the process of ladder climbing motion， the robot catches the rung firstly， and then adjusts the location of body with respect to the supporting foot based on the reaction forces between the rung and robot hands. Finally， the balance of robot body was maintained in the proposed transition motion. Experimental results prove that the proposed control strategy can prevent the falling accident， which may be caused by environmental parameter errors， external force disturbances， initial joint angle errors， and so on. It is effective to guarantee the transition motion of robot from biped standing to ladder climbing smoothly and successfully.

Key words: changed environmental boundary, humanoid robot, biped standing, ladder climbing, falling

中图分类号:

TP2426

陆志国. 仿人机器人站立到爬梯子转换动作的研究与实现[J]. 东北大学学报（自然科学版）, 2013, 34(11): 1630-1633.

LU Zhiguo. Study and Realization of Transition Motion from Biped Standing to Ladder Climbing for a Humanoid Robot〓[J]. Journal of Northeastern University(Natural Science), 2013, 34(11): 1630-1633.

参考文献

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仿人机器人站立到爬梯子转换动作的研究与实现

Study and Realization of Transition Motion from Biped Standing to Ladder Climbing for a Humanoid Robot〓

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