研究了具有一个被动关节的三关节单腿欠驱动弹跳机器人的轨迹规划问题.首先建立欠驱动机器人在着地阶段的动力学模型;然后采用数值迭代的方法,以主动关节驱动力矩最小为优化目标,得出了机器人各关节转角的运动规律;最后通过仿真得到三种驱动器配置情况下机器人的关节转角运动规律、姿态图以及驱动力矩,并对其进行了分析比较.结果表明:所提出的运动规划方法是可行的,采用髋关节和踝关节驱动是三种驱动器配置中最合理的情况.%This paper dealt with the trajectory planning problems of three joints underactuated hopping robots with one passive joint.Firstly,the dynamics model of the robot was established.Sec-ondly,the angles of three joints were obtained by the numerical iterative method and the optimization objective was minimization of the active joint torques.Finally the joint angle trajectory,motion pos-tures and driving torques of three kinds of actuator configurations were obtained by simulation,then the differences were analyzed and compared.The results show that the proposed motion planning method is feasible,and the hopping robot with actuation at hip and ankle is the most reasonable.
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