Design and experiments of a torso mechanism for the ROBIAN biped robot
Design and experiments of a torso mechanism for the ROBIAN biped robot
复制标题
ROBIAN双足机器人躯干机构设计与实验
DOI：
--
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
R. Sellaouti
中科院分区：
文献类型：
--
作者：
F. Ouezdou;B. Mohamed;Vincent Scesa;R. Sellaouti
本文介绍了ROBIAN双足机器人上半部分的设计和实验。ROBIAN项目的动机与人类运动系统的研究有关。ROBIAN原型的主要应用是开发一个真实的主动/被动假肢装置测试平台，加强对人体运动机构残疾的研究。通过对虚拟人体上肢对运动装置施加的扳手六个部件的分析，确定了两种耦合关系。基于机构间的动态等效概念，对机器人躯干机构进行了识别。这个概念导致了一个四自由度的机构，能够再现上肢在行走步态中的动态效果。根据若干设计准则和约束条件对机构参数进行了优化。然后构建原型，并通过六分量力传感器安装在ROBIAN运动装置上。实验结果验证了该方法的有效性。确定了实验耦合系数。同时给出了质量运动对ZMP轨迹的影响，显示了躯干机构在步行步态中贡献的有效性。
This paper deals with the design and the experiments of the upper part of the ROBIAN biped robot. The motivation of the ROBIAN project is related to the study of the human being locomotion system. The major application of ROBIAN prototype is the development of a real testing bed of active/passive prosthesis devices enhancing research on the human being locomotion mechanism handicaps. The analysis of the wrench six components exerted by the upper part of a virtual manikin on the locomotion apparatus leads to the identification of two coupling relations. Based on the dynamic equivalence concept between mechanisms, the ROBIAN torso mechanism is identified. This concept leads to a four degrees of freedom mechanism able to reproduce the dynamic effects of the upper limbs during the walking gait. The mechanism parameters are optimized with respect to several design criteria and constraints. Then the prototype is built and mounted on the ROBIAN locomotion apparatus through a six components force sensor. Experimental results presented in this paper validate the proposed approach. The experimental coupling coefficients are identified. The influence of the masses motion on the ZMP trajectory are also given, showing the effectiveness of the torso mechanism contribution during a walking gait.