基于混合动力学的仿人双足机器人动态起跳运动规划与仿真*

doi:10.16731/j.cnki.1671-3133.2026.07.005

现代制造工程 ›› 2026, Vol. 550 ›› Issue (7): 41-50.doi: 10.16731/j.cnki.1671-3133.2026.07.005

基于混合动力学的仿人双足机器人动态起跳运动规划与仿真^*

郭书言, 许勇, 孙伟军, 张宇豪, 陈御浩, 冯国鑫, 李慧梓

上海工程技术大学机械与汽车工程学院,上海 201620

收稿日期:2025-04-28 出版日期:2026-07-18 发布日期:2026-08-05
作者简介:郭书言,硕士研究生,主要研究方向为机器人机构学。E-mail:gsy210805@163.com;许勇,博士,副教授,主要研究方向为机器人机构学。E-mail:brucexuyong@163.com
基金资助:
^*国家自然科学基金面上项目(52475063)

Hybrid dynamics-based motion planning and simulation for dynamic take-off of humanoid bipedal robot

GUO Shuyan, XU Yong, SUN Weijun, ZHANG Yuhao, CHEN Yuhao, FENG Guoxin, LI Huizi

School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science, Shanghai 201620,China

Received:2025-04-28 Online:2026-07-18 Published:2026-08-05

摘要/Abstract

摘要： 针对仿人双足机器人动态跳跃控制问题,提出一种基于混合动力学模型的运动规划方法。通过结构优化设计降低传统人形机器人构型复杂度,建立了具备高效跳跃能力的简化机构模型。通过对机器人起跳过程的分析,将起跳过程划分为站立相(驱动关节主导)和欠驱动相(绕脚尖被动旋转)两个特征阶段,并建立了对应的运动学模型。采用达朗贝尔原理构建脚掌动态受力模型,推导了系统进入欠驱动相的判断条件。通过拉格朗日方程分别建立两相动力学模型,重点构建了欠驱动相下脚尖处的动力学约束模型。随后分析了起跳过程的运动条件,采用可变四次多项式插值的质心轨迹规划策略,结合逆运动学实现了关节空间轨迹的闭环求解。最后建立虚拟样机进行联合仿真,验证了所提出的混合动力学建模方法的有效性及质心轨迹规划策略的可行性。

关键词: 仿人双足机器人, 混合动力学模型, 欠驱动, 运动规划

Abstract: The dynamic jumping control problem of humanoid biped robots is addressed,and a motion planning method based on hybrid dynamic modeling is proposed. Structural optimization design reducing the configuration complexity of traditional humanoid robots is implemented,leading to the establishment of a simplified mechanism model with high-efficiency jumping capability. Through analysis of the robot′s take-off process,the motion is divided into two characteristic phases, the stance phase (dominated by actuated joints) and the underactuated phase (characterized by passive rotation around the toe),for which corresponding kinematic models are established. The D′Alembert′s principle is utilized to construct a dynamic force model of the foot,and the judgment conditions for the system entering the underactuated phase are derived. Lagrange equations are employed to establish dynamic models for both phases,with particular emphasis on constructing the dynamic constraint model generated at the toe during the underactuated phase. Motion conditions of the take-off process are analyzed,and a centroid trajectory planning strategy using variable quartic polynomial interpolation is implemented. Closed-loop solution of joint space trajectories is achieved through inverse kinematics. Finally,a virtual prototype is constructed for co-simulation,and the effectiveness of the proposed hybrid dynamic modeling method and the feasibility of the centroid trajectory planning strategy are verified.

Key words: humanoid bipedal robot, hybrid dynamic model, underactuated, motion planning

中图分类号:

TH112

郭书言, 许勇, 孙伟军, 张宇豪, 陈御浩, 冯国鑫, 李慧梓. 基于混合动力学的仿人双足机器人动态起跳运动规划与仿真^*[J]. 现代制造工程, 2026, 550(7): 41-50.

GUO Shuyan, XU Yong, SUN Weijun, ZHANG Yuhao, CHEN Yuhao, FENG Guoxin, LI Huizi. Hybrid dynamics-based motion planning and simulation for dynamic take-off of humanoid bipedal robot[J]. Modern Manufacturing Engineering, 2026, 550(7): 41-50.

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基于混合动力学的仿人双足机器人动态起跳运动规划与仿真^*

Hybrid dynamics-based motion planning and simulation for dynamic take-off of humanoid bipedal robot

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