【Roban教程】 机器人静步态实践2
本帖最后由 零落 于 2021-2-4 17:22 编辑 <br /><br /><section style="overflow-wrap: break-word; max-width: 100%; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); border-bottom: 1px solid rgb(221, 221, 221); margin: 0px auto 10px;"><p class="135brush" data-brushtype="text" style="overflow-wrap: break-word; margin-top: 0px; margin-bottom: -1px; padding: 0px 5px 6px; border-bottom: 2px solid rgb(239, 112, 96); display: inline-block; line-height: 1.1; font-size: 18px;"><span style="overflow-wrap: break-word; font-family: 微软雅黑, Microsoft YaHei;"><span style="overflow-wrap: break-word; font-weight: 700;">实现摆动脚轨迹规划以及摆动脚的运行</span></span></p></section><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); line-height: 1.75em;"><span style="overflow-wrap: break-word; font-family: 微软雅黑, Microsoft YaHei; font-size: 14px;"><span style="overflow-wrap: break-word; color: rgb(31, 31, 31);">在对脚的位置规划的时候，分别对X方向和Z方向规划，Y方向维持恒定值不变；</span><span style="overflow-wrap: break-word; color: rgb(12, 12, 12);">这里需要注意的是在Z方向需要有两段规划：抬脚和落脚；待重心移动完成后，右脚随即开始向前走一步，待右脚落地后，第一步便完成。以下两个代码块分别代表第一步摆动脚的规划以及移动。</span></span></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); text-align: center; line-height: 1.75em;"><span style="overflow-wrap: break-word; font-size: 14px; font-family: 微软雅黑, Microsoft YaHei; color: rgb(12, 12, 12);"><ignore_js_op style="overflow-wrap: break-word;"><img id="aimg_1331" aid="1331" src="https://bbs.lejurobot.com/data/attachment/forum/202102/03/162952rhh4wq8m98ujjh98.png" zoomfile="data/attachment/forum/202102/03/162952rhh4wq8m98ujjh98.png" file="data/attachment/forum/202102/03/162952rhh4wq8m98ujjh98.png" class="zoom" width="600" inpost="1" initialized="true" style="overflow-wrap: break-word; cursor: pointer; max-width: 100%;"/></ignore_js_op></span></p><p style="overflow-wrap: break-word; margin-top: 0px; margin-bottom: 0px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255);"><br/></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); text-align: center; line-height: 1.75em;"><span style="overflow-wrap: break-word; font-size: 14px; font-family: 微软雅黑, Microsoft YaHei; color: rgb(12, 12, 12);"><ignore_js_op style="overflow-wrap: break-word;"><img id="aimg_1332" aid="1332" src="https://bbs.lejurobot.com/data/attachment/forum/202102/03/163139uyhm3zu3v93sipgq.png" zoomfile="data/attachment/forum/202102/03/163139uyhm3zu3v93sipgq.png" file="data/attachment/forum/202102/03/163139uyhm3zu3v93sipgq.png" class="zoom" width="600" inpost="1" initialized="true" style="overflow-wrap: break-word; cursor: pointer; max-width: 100%;"/></ignore_js_op></span></p><p style="overflow-wrap: break-word; margin-top: 0px; margin-bottom: 0px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255);"><br/></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); line-height: 1.75em;"><span style="overflow-wrap: break-word; color: rgb(0, 112, 192);"><span style="overflow-wrap: break-word; font-weight: 700;"><span style="overflow-wrap: break-word; font-family: 微软雅黑, Microsoft YaHei; font-size: 14px;">图1</span></span></span><span style="overflow-wrap: break-word; font-size: 14px;"><span style="overflow-wrap: break-word; color: rgb(10, 10, 10); font-family: 微软雅黑, Microsoft YaHei;">为规划的脚部运动轨迹，图中红色轨迹为第一步运动轨迹，在单足支撑期，脚从A点运动到B点；</span><span style="overflow-wrap: break-word; font-family: 微软雅黑, Microsoft YaHei; color: rgb(12, 12, 12);"> </span></span><span style="overflow-wrap: break-word; font-family: 微软雅黑, Microsoft YaHei;"></span><br data-filtered="filtered" style="overflow-wrap: break-word;"/></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); text-align: center; line-height: 1.75em;"><span style="overflow-wrap: break-word; font-size: 14px; font-family: 微软雅黑, Microsoft YaHei; color: rgb(12, 12, 12);"><ignore_js_op style="overflow-wrap: break-word;"><img id="aimg_1333" aid="1333" src="https://bbs.lejurobot.com/data/attachment/forum/202102/03/163505mhz4nijyyrhf3ur0.png" zoomfile="data/attachment/forum/202102/03/163505mhz4nijyyrhf3ur0.png" file="data/attachment/forum/202102/03/163505mhz4nijyyrhf3ur0.png" class="zoom" width="589" inpost="1" initialized="true" style="overflow-wrap: break-word; cursor: pointer; max-width: 100%;"/></ignore_js_op></span></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); line-height: 1.75em; text-align: center;"><span style="overflow-wrap: break-word; color: rgb(0, 112, 192);"><span style="overflow-wrap: break-word; font-weight: 700;"><span style="overflow-wrap: break-word; font-size: 14px; font-family: 微软雅黑, Microsoft YaHei;">图1 </span></span></span><span style="overflow-wrap: break-word; font-size: 14px; font-family: 微软雅黑, Microsoft YaHei; color: rgb(12, 12, 12);"> 脚步运动轨迹</span></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); line-height: 1.75em;"><span style="overflow-wrap: break-word; font-size: 14px; font-family: 微软雅黑, Microsoft YaHei; color: rgb(12, 12, 12);"><br data-filtered="filtered" style="overflow-wrap: break-word;"/></span></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); line-height: 1.75em;"><span style="overflow-wrap: break-word; color: rgb(10, 10, 10); font-size: 14px; font-family: 微软雅黑, Microsoft YaHei;">下面我们来看看具体仿真中机器人的运动状态图：</span></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); text-align: center; line-height: 1.75em;"><span style="overflow-wrap: break-word; color: rgb(10, 10, 10); font-size: 14px; font-family: 微软雅黑, Microsoft YaHei;"><ignore_js_op style="overflow-wrap: break-word;"></ignore_js_op></span></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); line-height: 1.75em; text-align: center;"><span style="overflow-wrap: break-word; color: rgb(10, 10, 10); font-size: 14px; font-family: 微软雅黑, Microsoft YaHei;"><ignore_js_op style="overflow-wrap: break-word;"><span style="color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; font-size: 16px; overflow-wrap: break-word; font-weight: 700;"><span style="color:#0a0a0a;font-family:微软雅黑, Microsoft YaHei;overflow-wrap: break-word;"><span style="overflow-wrap: break-word; font-size: 14px; color: rgb(0, 112, 192);">图2 </span></span></span><span style="font-size: 16px; overflow-wrap: break-word;"><span style="overflow-wrap: break-word; font-size: 14px; color: rgb(0, 112, 192);"></span><span style="overflow-wrap: break-word; font-size: 14px;">静态步行——摆动腿摆动示意图</span></span></ignore_js_op></span></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); line-height: 1.75em;"><span style="overflow-wrap: break-word; color: rgb(9, 9, 9); font-size: 14px; font-family: 微软雅黑, Microsoft YaHei;">此后依次转移重心，向前迈步连续进行，便可以控制机器人连续向前行走。下面附上源码及其简单解释。</span></p><p style="overflow-wrap: break-word; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); text-align: center; line-height: 1.75em;"><span style="overflow-wrap: break-word; color: rgb(9, 9, 9); font-size: 14px; font-family: 微软雅黑, Microsoft YaHei;"><ignore_js_op style="overflow-wrap: break-word;"><img id="aimg_1335" aid="1335" src="https://bbs.lejurobot.com/data/attachment/forum/202102/03/163802dgu2bxelx79ug9l6.png" zoomfile="data/attachment/forum/202102/03/163802dgu2bxelx79ug9l6.png" file="data/attachment/forum/202102/03/163802dgu2bxelx79ug9l6.png" class="zoom" width="600" inpost="1" initialized="true" style="overflow-wrap: break-word; cursor: pointer; max-width: 100%;"/></ignore_js_op></span></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); line-height: 1.75em; text-align: center;"><span style="overflow-wrap: break-word; color: rgb(9, 9, 9); font-size: 14px; font-family: 微软雅黑, Microsoft YaHei;"><ignore_js_op style="overflow-wrap: break-word;"><img id="aimg_1336" aid="1336" src="https://bbs.lejurobot.com/data/attachment/forum/202102/03/163931yvehjrjdvecrsrxw.png" zoomfile="data/attachment/forum/202102/03/163931yvehjrjdvecrsrxw.png" file="data/attachment/forum/202102/03/163931yvehjrjdvecrsrxw.png" class="zoom" width="600" inpost="1" style="overflow-wrap: break-word; cursor: pointer; max-width: 100%;"/></ignore_js_op></span></p><p style="overflow-wrap: break-word; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); line-height: 1.75em; text-align: center;"><span style="overflow-wrap: break-word; color: rgb(9, 9, 9); font-size: 14px; font-family: 微软雅黑, Microsoft YaHei;"><ignore_js_op style="overflow-wrap: break-word;"><img id="aimg_1337" aid="1337" src="https://bbs.lejurobot.com/data/attachment/forum/202102/03/164029hvt82226q4fjmqjj.png" zoomfile="data/attachment/forum/202102/03/164029hvt82226q4fjmqjj.png" file="data/attachment/forum/202102/03/164029hvt82226q4fjmqjj.png" class="zoom" width="600" inpost="1" style="overflow-wrap: break-word; cursor: pointer; max-width: 100%;"/></ignore_js_op></span></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); text-align: center; line-height: 1.75em;"><span style="overflow-wrap: break-word; color: rgb(9, 9, 9); font-family: 微软雅黑, Microsoft YaHei; font-size: 14px;"><ignore_js_op style="overflow-wrap: break-word;"><img id="aimg_1338" aid="1338" src="https://bbs.lejurobot.com/data/attachment/forum/202102/03/164219wkkhy2y2333hga3k.png" zoomfile="data/attachment/forum/202102/03/164219wkkhy2y2333hga3k.png" file="data/attachment/forum/202102/03/164219wkkhy2y2333hga3k.png" class="zoom" width="600" inpost="1" style="overflow-wrap: break-word; cursor: pointer; max-width: 100%;"/></ignore_js_op></span></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); text-align: center; line-height: 1.75em;"><span style="overflow-wrap: break-word; color: rgb(9, 9, 9); font-family: 微软雅黑, Microsoft YaHei; font-size: 14px;"><ignore_js_op style="overflow-wrap: break-word;"><img id="aimg_1339" aid="1339" src="https://bbs.lejurobot.com/data/attachment/forum/202102/03/164355ny0br2b4abuyy4y9.png" zoomfile="data/attachment/forum/202102/03/164355ny0br2b4abuyy4y9.png" file="data/attachment/forum/202102/03/164355ny0br2b4abuyy4y9.png" class="zoom" width="600" inpost="1" style="overflow-wrap: break-word; cursor: pointer; max-width: 100%;"/></ignore_js_op></span></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); text-align: center; line-height: 1.75em;"><span style="overflow-wrap: break-word; color: rgb(9, 9, 9); font-family: 微软雅黑, Microsoft YaHei; font-size: 14px;"><ignore_js_op style="overflow-wrap: break-word;"><img id="aimg_1340" aid="1340" src="https://bbs.lejurobot.com/data/attachment/forum/202102/03/164506td5y919kckk5brdz.png" zoomfile="data/attachment/forum/202102/03/164506td5y919kckk5brdz.png" file="data/attachment/forum/202102/03/164506td5y919kckk5brdz.png" class="zoom" width="600" inpost="1" style="overflow-wrap: break-word; cursor: pointer; max-width: 100%;"/></ignore_js_op></span></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); line-height: 1.75em; text-align: center;"><span style="overflow-wrap: break-word; color: rgb(9, 9, 9); font-family: 微软雅黑, Microsoft YaHei; font-size: 14px;"><ignore_js_op style="overflow-wrap: break-word;"><img id="aimg_1341" aid="1341" src="https://bbs.lejurobot.com/data/attachment/forum/202102/03/164525cfgyrlzrs2ykf5sk.png" zoomfile="data/attachment/forum/202102/03/164525cfgyrlzrs2ykf5sk.png" file="data/attachment/forum/202102/03/164525cfgyrlzrs2ykf5sk.png" class="zoom" width="600" inpost="1" style="overflow-wrap: break-word; cursor: pointer; max-width: 100%;"/></ignore_js_op></span></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); line-height: 1.75em;"><br/></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); line-height: 1.75em;"><span style="overflow-wrap: break-word; color: rgb(0, 112, 192);"><span style="overflow-wrap: break-word; font-weight: 700;"><span style="overflow-wrap: break-word; font-size: 14px; font-family: 微软雅黑, Microsoft YaHei;">图3</span></span></span><span style="overflow-wrap: break-word; font-size: 14px; font-family: 微软雅黑, Microsoft YaHei; color: rgb(9, 9, 9);">为连续规划的质心以及脚运动轨迹图，红色为重心轨迹，蓝色为右脚轨迹，绿色为左脚运动轨迹。</span></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); text-align: center; line-height: 1.75em;"><span style="overflow-wrap: break-word; font-size: 13px; font-family: HiddenHorzOCR; color: rgb(9, 9, 9);"><ignore_js_op style="overflow-wrap: break-word;"><img id="aimg_1342" aid="1342" src="https://bbs.lejurobot.com/data/attachment/forum/202102/03/164548d3ktge1e3w1aignd.png" zoomfile="data/attachment/forum/202102/03/164548d3ktge1e3w1aignd.png" file="data/attachment/forum/202102/03/164548d3ktge1e3w1aignd.png" class="zoom" width="600" inpost="1" style="overflow-wrap: break-word; cursor: pointer; max-width: 100%;"/></ignore_js_op></span></p><p style="overflow-wrap: break-word; margin-top: 15px; margin-bottom: 15px; padding: 0px; color: rgb(51, 51, 51); font-family: -apple-system-font, Helvetica, PingFang SC, Hiragino Sans GB, Arial, Microsoft YaHei; white-space: normal; background-color: rgb(255, 255, 255); text-align: center; line-height: 1.75em;"><span style="overflow-wrap: break-word; color: rgb(0, 112, 192);"><span style="overflow-wrap: break-word; font-weight: 700;"><span style="overflow-wrap: break-word; font-family: 微软雅黑, Microsoft YaHei; font-size: 14px;">图3</span></span></span><span style="overflow-wrap: break-word; color: rgb(9, 9, 9); font-family: 微软雅黑, Microsoft YaHei; font-size: 14px;"> 质心以及脚部连续运动轨迹</span></p><p style="text-align: center;"><br/></p><link rel="stylesheet" href="//bbs.lejurobot.com/source/plugin/wcn_editor/public/wcn_editor_fit.css?v134_iSW" id="wcn_editor_css"/> 请问updateJointAngleWithQP(comPos, lFootPos, rFootPos) 官网提供吗？虚拟仿真赛中，在哪个文件呢
页:
[1]