Statically Stable Walking Gait Planning of a Kind of Exoskeleton Walking Aid Robot

Yi Zikai; Li Juan; Li Weida; Hu Haiyan; Li Chunguang

doi:10.16578/j.issn.1004.2539.2016.01.011

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Statically Stable Walking Gait Planning of a Kind of Exoskeleton Walking Aid Robot

更新时间：2022-10-20

- Statically Stable Walking Gait Planning of a Kind of Exoskeleton Walking Aid Robot
- Vol. 40, Issue 1, Pages: 48-53(2016)
- 作者机构：
  
  1. 苏州大学机电工程学院江苏省机器人技术与系统重点实验室
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.01.011
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[1]易子凯,李娟,李伟达,胡海燕,李春光.一种外骨骼助行机器人的静稳定行走步态规划[J].机械传动,2016,40(01):48-53.

Yi Zikai, Li Juan, Li Weida, et al. Statically Stable Walking Gait Planning of a Kind of Exoskeleton Walking Aid Robot. [J]. 40(1):48-53(2016)
[1]易子凯,李娟,李伟达,胡海燕,李春光.一种外骨骼助行机器人的静稳定行走步态规划[J].机械传动,2016,40(01):48-53. DOI： 10.16578/j.issn.1004.2539.2016.01.011.

Yi Zikai, Li Juan, Li Weida, et al. Statically Stable Walking Gait Planning of a Kind of Exoskeleton Walking Aid Robot. [J]. 40(1):48-53(2016) DOI： 10.16578/j.issn.1004.2539.2016.01.011.

摘要

设计了一种8自由度的外骨骼助行机器人,使其能在矢状面内完成行走运动,并通过足底重心转移模块使机器人在行走时重心能够在冠状面内左右转移。并对其进行了运动学建模,求解出关节角度和重心轨迹的关系。基于重心投影法理论,基于重心轨迹对下肢外骨骼助行机器人进行步态规划,使其实现静稳定行走。运用MATLAB求解出关节轨迹并进行稳定裕度地仿真验证,使得机器人能实现静稳定行走。

Abstract

A 8-DOF exoskeleton walking aid robot is designed,which can complete the walking motion in the sagittal plane. And the center of gravity can transfer in the frontal plane during walking through the transfer module of the foot center of gravity. The analysis of kinematics modeling is carried on to solve the relationship between the joint angle and the center of gravity of trajectory. Based on the theory of focus projection method,a gait planning method is proposed for the statically stable walking of the robot based on the gravity center track. The joint trajectory is solved and stability margin is verified through MATLAB simulation. The simulation results show the exoskeleton robot can walk with static stability.

关键词

外骨骼机器人构型设计步态规划静稳定

Keywords

Exoskeleton robotConfiguration designGait planningStatic stability

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