小型双足步行机器人的步态规划  

Small Biped Robot Walking Gait Planning

作　　者：张勇[1] 许东来[1] 

机构地区：[1]北京工业大学,北京100124

出　　处：《计算机仿真》2010年第11期148-151,共4页Computer Simulation

摘　　要：为了解决双足步行机器人的步态控制,实现机器人稳定步行。为加强机器人的行走稳定性和优化步态过程,通过构造机器人行走过程中应满足的约束条件,规划机器人行走时的基本姿态及重心轨迹。根据规划的行走姿态及轨迹建立运动学方程,求解方程得到机器人各关节的运动轨迹。通过Matlab软件进行对运动轨迹模型的仿真,仿真得到的结果与设想的结果一致,证明步行得到平滑的关节轨迹是平稳的,并验证了方法的可行性。A criterion based on the ZMP gait planning methods is used to achieve stable walking robot.Primary function is mainly used to describe the end of the robot trajectory to ensure that the robot feet,legs,thighs and trunk,such as the trajectories of the components in the entire walk cycle of smooth continuity.First of all,in accordance with the process of walking,robots should be bound to meet the conditions for the design of trajectories of the joints of both feet,and by the geometric constraints,the trajectories of the joints was calculate.Then according to the ZMP formula the course of the ZMP trajectory was determined.Finally,the simulation result with Matlab verified the feasibility of the method.

关 键 词：双足机器人 稳定性判断 步态规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]