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Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics

机译：人形下肢运动学的解耦闭式解

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摘要

This paper presents an explicit, omnidirectional, analytical, and decoupled closed-form solution for the lower limb kinematics of the humanoid robot NAO. The paper starts by decoupling the position and orientation analysis from the overall Denavit-Hartenberg (DH) transformation matrices. Here, the joint activation sequence for the DH matrices is based on the geometry of a triangle. Furthermore, the implementation of a forward and a reversed kinematic analysis for the support and swing phase equations is developed to avoid matrix inversion. The allocation of constant transformations allows the position and orientation end-coordinate systems to be aligned with each other. Also, the redefinition of the DH transformations and the use of constraints allow decoupling the shared DOF between the legs and the torso. Finally, a geometric approach to avoid the singularities during the walking process is indicated. Numerical data is presented along with an experimental implementation to prove the validity of the analytical results.
机译：本文为类人机器人NAO的下肢运动学提出了一种显式，全向，解析和解耦的闭式解。本文首先将位置和方向分析与整个Denavit-Hartenberg（DH）转换矩阵解耦。在此，DH矩阵的联合激活序列基于三角形的几何形状。此外，开发了对支撑和摆动相位方程进行正向和反向运动学分析的实施方案，以避免矩阵求逆。常量变换的分配允许位置和方向的最终坐标系彼此对齐。同样，DH变换的重新定义和约束的使用允许将腿部和躯干之间共享的DOF解耦。最后，指出了一种在步行过程中避免奇异性的几何方法。提出了数值数据以及实验方法，以证明分析结果的有效性。

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  • 来源
    《Mathematical Problems in Engineering》 |2015年第6期|437979.1-437979.14|共14页
  • 作者

    Said Alejandro; Rodriguez-Leal Ernesto; Soto Rogelio; Gordillo J. L.; Garrido Leonardo;

  • 作者单位

    Tecnol Monterrey, Grad Sch Sci & Engn, Monterrey 64849, NL, Mexico.;

    Tecnol Monterrey, Grad Sch Sci & Engn, Monterrey 64849, NL, Mexico.;

    Tecnol Monterrey, Grad Sch Sci & Engn, Monterrey 64849, NL, Mexico.;

    Tecnol Monterrey, Grad Sch Sci & Engn, Monterrey 64849, NL, Mexico.;

    Tecnol Monterrey, Grad Sch Sci & Engn, Monterrey 64849, NL, Mexico.;

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