Kinematics Analysis of Humanoid Robot based on Motion Capture Technology and Gait Simulation

Wenyuan Wang; Rongchang Fu; Fu Cao

doi:10.16578/j.issn.1004.2539.2021.08.016

您当前的位置：

首页 >

文章列表页 >

Kinematics Analysis of Humanoid Robot based on Motion Capture Technology and Gait Simulation

Test·Analysis | 更新时间：2022-11-10

- Kinematics Analysis of Humanoid Robot based on Motion Capture Technology and Gait Simulation
- Journal of Mechanical Transmission Vol. 45, Issue 8, Pages: 110-117(2021)
- 作者机构：
  
  1.新疆大学机械工程学院，新疆乌鲁木齐 830047
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.08.016
  CLC：
扫描看全文
王文远,富荣昌,曹富.基于动作捕捉技术对仿人机器人运动学分析与步态仿真[J].机械传动,2021,45(08):110-117.

Wang Wenyuan,Fu Rongchang,Cao Fu.Kinematics Analysis of Humanoid Robot based on Motion Capture Technology and Gait Simulation[J].Journal of Mechanical Transmission,2021,45(08):110-117.
王文远,富荣昌,曹富.基于动作捕捉技术对仿人机器人运动学分析与步态仿真[J].机械传动,2021,45(08):110-117. DOI： 10.16578/j.issn.1004.2539.2021.08.016.

Wang Wenyuan,Fu Rongchang,Cao Fu.Kinematics Analysis of Humanoid Robot based on Motion Capture Technology and Gait Simulation[J].Journal of Mechanical Transmission,2021,45(08):110-117. DOI： 10.16578/j.issn.1004.2539.2021.08.016.

摘要

以人类的构造为原型，基于仿生学的角度，设计了一种下肢单腿7自由度的仿人机器人。通过三维光学动作捕捉系统采集人体正常行走时的运动位置坐标，分析数据，获取人体步态行走时的关节角度及下肢各关节力矩变化规律；建立了下肢7自由度运动学模型并进行逆运动学分析，求解出下肢各关节角度的变化情况，并根据步态规划求解出仿人机器人步行运动过程中下肢各关节转动角度；在UG环境中建立下肢7自由度的仿人机器人三维模型，并利用多体动力学软件Adams进行动力学仿真，结合步态运动规划求解出的角度变化情况对仿真参数进行设置，通过虚拟样机完成仿人机器人的步态行走，并将仿真数据和动作捕捉实验获取的数据结果进行对比。研究结果显示，仿人机器人能够实现稳定的步态行走，确认了整体建模思路、运动学分析以及动力学仿真的准确性。以实验结果为基准，仿真所获得的髋关节和膝关节力矩值相对于实验值的相对误差分别为6.7%和9.6%，均在合理的范围内，为仿人机器人结构设计和电机选型提供了依据。

Abstract

Based on the human structure as the prototype， a humanoid robot with a lower limb and 7 degrees of freedom is designed based on bionics. The motion coordinates of human body during normal walking are collected through the three-dimensional optical motion capture system， and the joint angle and the variation rule of the moment of each lower extremity joint during walking are obtained by analyzing the data. A 7-degree-of-freedom kinematics model of the lower extremity is established and inverse kinematics analysis is carried out to solve the variation of the lower extremity joint angles. According to the gait programming， the rotation angles of the lower extremity joints during the humanoid robot walking are solved. In the lower extremity in UG environment， the 3D model of 7 DOF humanoid robot is established， and the dynamics simulation is carried out by using multi-body dynamics software Adams， combining with the gait motion planning from the angle of the changing situation to set the simulation parameters， through virtual prototype humanoid robot gait， and the simulation data and the data results from the motion capture experimental are compared. Research results show， the humanoid robot can achieve stable walking gait， the overall accuracy of the modeling ideas， analysis of kinematics and dynamics simulation is confirmed. Based on the results of the experiment simulation for hip and knee torque value compared with the experimental value of relative error of 6.7% and 9.6% respectively in a reasonable scope， the basis for the humanoid robot structure design and motor selection is provided.

关键词

动作捕捉仿人机器人逆运动学步态规划运动仿真

Keywords

Motion captureHumanoid robotInverse kinematicsGait planningMotion simulation

references

AKHTARUZZAMAN M，SHAFIE A A，KHAN M R.Gait Analysis：systems，technologies，and importance［J］.Journal of Mechanics in Medicine and Biology，2016，16（7）：45.

BAJRAMI X，DERMAKU A，LIKAJ R，et al.Trajectory planning and inverse kinematics solver for real biped robot with 10 DOF-s［J］.IFAC Papers Online，2016，49（29）：88-93.

ZHANG Q Z，CHEN D D，LI H M.A gait planning method for biped heel-and-toe robot［J］.Energy Procedia，2012，16：1799-1805.

徐历洪，邹光明，余祥，等.双足机器人平地行走步态规划的研究［J］.机械设计与制造，2019（4）：230-234.

XU Lihong，ZOU Guangming，YU Xiang，et al.Research on gait planning of biped robot on flat ground［J］.Mechanical Design and Manufacturing，2019（4）：230-234.

彭胜军，税海涛，杨庆，等.双足步行机器人转弯步态规划及其实现［J］.信息与控制，2010，39（6）：783-788.

PENG Shengjun，SHUI Haitao，YANG Qing，et al.Bipedal walking robot turning gait planning and its implementation［J］.Information and Control，2010，39（6）：783-788.

唐火红，丁婧，严启凡.液压驱动双足机器人步态规划及动力学仿真［J］.机械设计与制造，2020（4）：248-252.

TANG Huohong，DING Jing，YAN Qifan.Gait planning and dynamics simulation of hydraulically driven biped robot［J］.Mechanical Design and Manufacturing，2020（4）：248-252.

陈磊，张国良，张维平，等.双足机器人动态步态规划［J］.计算机工程与应用，2014，50（1）：267-270.

CHEN Lei，ZHANG Guoliang，ZHANG Weiping，et al.Dynamic gait programming for biped robots［J］.Computer Engineering and Applications，2014，50（1）：267-270.

周友行，赵晗妘，刘汉江，等.采用DDPG的双足机器人自学习步态规划方法［J/OL］.计算机工程与应用：1-8［2020-09-01］.http：//cea.ceaj.org/CN/abstract/abstract39489.shtmlhttp://cea.ceaj.org/CN/abstract/abstract39489.shtml.

ZHOU Youxing，ZHAO Hanyun，LIU Hanjiang，et al.Bipedal robot self-learning gait planning method using DDPG［J/OL］.Computer Engineering and Application：1-8［2020-09-01］.http：//cea.ceaj.org/CN/abstract/abstract39489.shtmlhttp://cea.ceaj.org/CN/abstract/abstract39489.shtml.

罗逸苇.Vicon三维运动捕捉系统在人体运动分析中的应用［J］.浙江工贸职业技术学院学报，2007，7（1）：40-42.

LUO Yiwei.Vicon 3D motion capture system's application in human motion analysis［J］.Journal of Zhejiang Polytechnic of Industry and Trade，2007，7（1）：40-42.

张久雷.双电机驱动的六足直立式步行机构设计与运动学分析［J］.机械传动，2018，42（10）：106-111.

ZHANG Jiulei.Design and kinematic analysis of double motor driven hexapod upright walking mechanism［J］.Journal of Mechanical Transmission，2012，42（10）：106-111.

王凡，李龙澍.实时解析法在NAO模型运动学求逆解中的应用［J］.计算机应用，2011，31（10）：2825-2827.

WANG Fan，LI Longshu.Application of real-time analytical method in inverse kinematics of NAO model［J］.Computer Applications，2011，31（10）：2825-2827.

陈赛旋，沈惠平，孙少明，等.仿人机器人平地行走步态规划与仿真［J］.机械设计，2014，31（12）：31-36.

CHEN Saixuan，SHEN Huiping，SUN Shaoming，et al.Planning and simulation of humanoid robot walking gait on flat ground［J］.Journal of Mechanical Design，2014，31（12）：31-36.

李敬，黄强，余张国，等.人体步行规律与仿人机器人步态规划［J］.中国科学：信息科学，2012，42（9）：1067-1080.

LI Jing，HUANG Qiang，YU Zhangguo，et al.Human walking law and gait planning of humanoid robot［J］.Scientia China：Information Science，2012，42（9）：1067-1080.

中国标准化与信息分类编码研究所.中国成年人人体尺寸：GB/T 10000-1988［S］.北京：中国标准出版社，1988：20.

China Institute of Standardization and Information Classification and Coding.Human body size of Chinese adults：GB/T 10000-1988［S］.Beijing：Standards Press of China，1988：20.

李增刚.ADAMS入门详解与实例［M］.北京：国防工业出版社，2014：102-108.

LI Zenggang.Introduction details and examples of ADAMS［M］.Beijing：National Defense Industry Press，2014：102-108.

张久雷.基于Adams的六足直立式步行机器人运动仿真分析［J］.机械传动，2020，44（8）：147-152.

ZHANG Jiulei.Motion simulation analysis of six-legged upright walking robot based on Adams［J］.Journal of Mechanical Transmission，2020，44（8）：147-152.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Kinematics Analysis of Grasping Manipulator based on ART-RBF Learning Algorithm

Contact Simulation and Dynamic Performance Test of Ease-off Modified High Reduction Hypoid Gears

Structural Design and Training Planning for Ankle Rehabilitation Mechanisms

Motion Characteristics Analysis and Simulation of Limited Slip Differential with Curve-faced Gear Pair

Structural Design and Motion Analysis of Carbon-free Trolleys Based on the RSSR Mechanism

Related Author

No data

Related Institution

Hubei Key Laboratory of Advanced Technology for Automotive Components（Wuhan University of Technology）

Hubei Collaborative Innovation Center for Automotive Components Technology

School of Mechanical & Electronic Engineering, Henan University of Science & Technology

University of Chinese Academy of Sciences

Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences

⁰