自动化学报Issue(5)：874-884,11.DOI:10.16383/j.aas.2015.c140632
仿人足底肌电特征的机器人行走规划
Humanoid Walking Planning Based on EMG from Human Foot-bottom
摘要
Abstract
The research on mimicking human-like walk lays a basis for biped walking motion. The conventiaonal method of realising human-like walk is using computer vision or inertia measurement unit (IMU) to capture the feature points of human body. However, these methods do not consider the zero moment point (ZMP) similarity. To tackle this problem, this paper proposes a hybrid motion planning method based on foot-bottom electromyography (EMG) signal and IMU measurement. This method uses the measurement of EMG under foot bottom to estimate the ZMP and ankle torque and plans the robot gait combining the measurement of trajectories of human trunk and feet. First, the bionic data from human is calibrated and transformed as motion reference for the robot. Then the dynamic balanced walking motion is generated by preview control. To ensure the human-like feature, the planned motion is optimised based on human similarity. Finally, it is validated by experiments and analysis that EMG signal is advanced 160 ms before ZMP change. The short time prediction of ZMP is realized with higher degree of likeness with human motion.关键词
仿人机器人/拟人行走规划/预观控制/足底肌电信号Key words
Humanoid robot/human-like walk planning/preview control/electromyography (EMG)引用本文复制引用
孙广彬,王宏,陆志国,王福旺,史添玮,王琳..仿人足底肌电特征的机器人行走规划[J].自动化学报,2015,(5):874-884,11.基金项目
国家自然科学基金(61071057,51405073),辽宁省高等学校创新团队项目(LT2014006)资助Supported by National Natural Science Foundation of China (61071057,51405073) and the University Innovation Team of Liaoning Province (LT2014006) （61071057,51405073）
