文献类型：期刊文献

中文题名：一种仿真数字人步态规划优化算法

英文题名：An Optimization Algorithm of Gait Planning for Simulated Numerical Man

作者：曹恒[1];凌正阳[1];王瑜[1];龙勇波[1];朱钧[1]

机构：[1]华东理工大学机械与动力工程学院,上海200237

年份：2009

卷号：29

期号：4

起止页码：433

中文期刊名：振动．测试与诊断

外文期刊名：Journal of Vibration,Measurement & Diagnosis

收录：CSTPCD;;EI(收录号：20100412666960);Scopus;北大核心:【北大核心2008】；CSCD:【CSCD_E2011_2012】；

基金：国家自然科学基金资助项目(编号:50775072)

语种：中文

中文关键词：仿真;数字人;运动学;步态规划

外文关键词：simulation numerical man kinematic gait planning

摘要：为了研究下肢骨骼服的行走步态,构造了HL-1(华理1号)仿真数字人体模型,并对数字人进行了步态规划。为了确保数字人行走的稳定,避免数字人行走过程中关节驱动的冲击,减小脚与地面的碰撞,在考虑前向与侧向运动存在耦合的条件下,提出了将正运动学和逆运动学方法相结合的步态规划优化算法,克服了原有的数字人步态求解方法的不足。应用该算法求得步态周期函数,仿真数字人在Matlab和Adams环境下进行了协同仿真,实现了数字人的平稳行走,验证了该步态规划优化算法的可行性。
To study the walking gait of lower extremity exoskeleton,a simulated numerical man model named by HL-1 was built,and its gait was planned. An optimization algorithm to solve the gait function,which combined the solution of forward kinematics and inverse kinematics at the precondition of forward and sideward coupling movement,was proposed to ensure stability of HL-1 and avoid any hit to the actuators and minimize the impact between the foot and the ground while walking. This solution overcame the deficiency of the former method. Finally,the numerical man model walked stably when simulated in the environment of Matlab & Adams based on the algorithm. It proves that this method is practicable.