人类机器人的研究与应用

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"Humanoid Robots. Human-like Machines" 本书《Humanoid Robots. Human-like Machines》是一本关于人形机器人的研究书籍，由Matthias Hackel编辑，共652页，出版于2007年。该书涵盖了人形机器人研究的多个方面，包括硬件开发、双足运动、视觉感知、数据采集、处理和控制，以及人机交互等。人形机器人研究是机器人学研究的一个重要方向，该领域的研究目的是设计和制造能够像人类一样行动和思考的机器人。人形机器人具有轻便、节能的执行器，快速智能的感知器和复杂的控制系统。这些技术的融合将有助于我们更好地理解人机交互和复杂的感知器-执行器系统。本书的第一章节介绍了人形机器人的硬件开发，包括完整的人形机器人系统和部分解决方案。第二章节讨论了人形机器人的双足运动，包括自主、效率高和自适应的双足步行技术。第三章节介绍了视觉感知、数据采集、处理和控制技术。第四章节讨论了人机交互和通信技术。人形机器人研究的目的是为了制造能够像人类一样行动和思考的机器人，这将对我们的日常生活产生深远的影响。该书的出版将为人形机器人研究领域的发展提供有益的参考。知识点： 1. 人形机器人研究的目的是设计和制造能够像人类一样行动和思考的机器人。 2. 人形机器人具有轻便、节能的执行器，快速智能的感知器和复杂的控制系统。 3. 人形机器人研究涉及到硬件开发、双足运动、视觉感知、数据采集、处理和控制，以及人机交互等多个方面。 4. 人形机器人研究的目的是为了制造能够像人类一样行动和思考的机器人，这将对我们的日常生活产生深远的影响。 5. 人形机器人研究需要融合多种技术，包括机械工程、电子工程、计算机科学、机器人学等。 6. 人形机器人研究的应用前景广阔，包括服务机器人、工业机器人、医疗机器人等。 7. 人形机器人研究需要考虑人机交互和道德问题，以确保机器人的安全和可靠性。本书《Humanoid Robots. Human-like Machines》为人形机器人研究领域提供了有益的参考，为研究者和开发者提供了宝贵的资源。

Humanoid Robots, Human-like Machines

used in biped gait analysis based on force or pressure measurements. CoP represents the

point on the support foot polygon at which the resultant of distributed foot ground reaction

force acts. According to their definitions, it is obviously that in the considered single-

support phase and for balanced dynamic gait equilibrium, the ZMP coincides with the CoP.

However, in the dynamically unbalanced single-support situation that is characterized by a

moment about CoP that could not be balanced by the sole reaction forces, the CoP and the

ZMP do not coincide. The ZMP location outside the support area provides useful

information for gait balancing (Low, Liu, Goh, & Yu, 2006). The fact that ZMP is

instantaneously on the edge or outside of the support polygon indicates the occurrence of an

unbalanced moment that cannot be compensated for by foot reaction forces. The distance of

ZMP from the foot edge provides the measure for the unbalanced moment that tends to

rotate the biped around the supporting foot and, possibly, to cause a fall. As depicted in

Figure 6, the exoskeleton is composed of the trunk, the pelvis, two shanks, two thighs and

two feet, will be considered. The trunk carries the payload, which can be seen as a part of

the trunk. The vertical Z-axis and horizontal X-axis lie in the sagittal plane, as shown in

Figure 6. By observing typical human joint trajectories, it is noted that the motion range is

greater in sagittal plane than in other planes (Marchese, Muscato, & Virk, 2001) and most

movements happen in the sagittal plane during walking. Hence, at the first stage, only the

joints rotating around the Y-axis are actuated and movements in the sagittal plane are

studied. The dynamical equation that describes the movement of a biped (or exoskeleton)

has the following form:

(1)

where

is the vector of generalized coordinates, which are the joint angles.

Figure 6. The model of the exoskeleton

Design of an Assistive Gait Device for Strength Endurance and Rehabilitation

The matrix function

takes into account the mass distribution, and the vector function

describes the effect of both inertial and gravity forces. The elements of the vector

are generalized forces applied to the system, while the dots denote the time derivatives.

Applying the basic theorems of rigid body kinematics, we obtain the following recursive

(Low et al., 2006):

(2)

where

and are the angular velocity, linear velocity of the center of mass,

angular acceleration, and linear acceleration of the center of mass of the i-th link,

respectively. The inertial force of the center of mass of the i-th link

and moment of the i-th

link can then be obtained by using Newton-Euler equations, respectively,

iii

amF

(3)

iiiiii

IIM

ωωα

×+=

(4)

4. Control Strategy of the Exoskeleton System

An important feature of the exoskeleton system, which is also the main difference between

exoskeleton and biped robot, is the participation role of human in the process of control and

decision-making. By introducing human as part of the control system, some intractable tasks

for robots such as navigation, path planning, obstacle crossing and gait selection can be

easily undertaken by the pilot instead of robot's complex artificial controller and vision

system. However, two problems remain for the exoskeleton controller to solve: how to

transfer the pilot's intention to the exoskeleton and how to keep the stability of the

exoskeleton. Accordingly, the proposed control strategy can be divided into two parts,

namely Locomotion control and ZMP control.

4.1 Locomotion Control

During the single support phase, the trajectory of the swinging foot determines the gait

parameters such as step length, step height, etc. To ensure that the exoskeleton and the

wearer can walk together, the trajectory of the exoskeleton's swing foot should trace that of

the user in time. To do that, a mechanical linkage named inner exoskeleton is attached to the

wearer operator (Low et al., 2006). Accordingly, the exoskeleton that is controllable and

carrying payloads is named outer exoskeleton. The inner exoskeleton equipped with encoders

is to capture the joint information of the pilot.

4.2 Control of the ZMP

If the ZMP of the exoskeleton is within the support area, it implies that the exoskeleton can

keep the stability only by using the ground reaction force without adding any force to the

user. In other words, the user will not feel any extra burden from the exoskeleton. Hence the

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