中文摘要：

为了实现实际应用中的有效抓取操作,需要对仿人机器人进行全身运动规划.在全身运动规划中,必须考虑所有关节的自由度以及机器人、环境和被抓取对象物理特性的约束.针对这种包含多自由度、复杂约束的运动规划问题,设计了一种基于双向RRT算法的规划方法,获取了机器人的双腿稳定位形和抓取手的位姿序列,从而实现了仿人机器人的全身运动规划.最后,在仿人机器人NAO平台上进行了实验验证,完成了开抽屉、有障碍物情况下的开抽屉以及开抽屉取物并关闭抽屉等任务.实验结果表明,所设计的基于双向RRT算法的全身运动规划方法能够有效地解决仿人机器人的抓取操作问题.

英文摘要：

To realize grasping manipulation effectively in practical application, whole-body motion planning should be designed for humanoid robots. Thus, degrees of freedom of all the joints in humanoid robots, and constraints of robots, environment and the physical characteristics of grasped objects should be taken into consideration. To solve the problems including multi degrees of freedom and complex constraints, a new planning method is designed by using bidirectional RRT algorithm. After receiving stable double-leg configurations and the list of grasping hand＇s poses, the bidirectional RRT algorithm is adopted to realize the whole-body motion planning for humanoid robots. Some experiments are conducted to make a NAO humanoid robot to open a drawer, enables to open a drawer in the presence of obstacles, and open a drawer for taking an object, and close the drawer. The results indicate that the whole-body motion planning with bidirectional RRT algorithm is effective in achieving the grasping manipulation of humanoid robots.