基于解耦合成及ZMP方程的仿人机器人三维步态规划  

Three-dimensional Gait Planning for Humanoid Robots Based on Decoupling Synthesis and ZMP Algorithm

作　　者：王志良[1] 于国晨[1] 解仑[1] 

机构地区：[1]北京科技大学信息工程学院,北京100083

出　　处：《计算机科学》2010年第12期215-217,共3页Computer Science

基　　金：国家863高技术研究计划课题(2007AA04Z218);国家自然科学基金课题(No.60573059);中央高校基本科研务费专项资金(FRF-BR-09-023B)资助

摘　　要：介绍了一种仿人机器人的新型步态规划方法。将仿人机器人前向步态简化为七连杆模型,侧向步态简化为五连杆模型;然后在Z坐标相等的情况下合成三维步态;最后通过ZMP方程来检验和仿真,并结合实际系统及其运行状况进行分析,验证了所提出规划方法的有效性。This paper presented a new type of humanoid robot gait planning method.The gait of humanoid robot was simplified as 7-link model,lateral gait of humanoid robot was simplified as 5-link model.And then in the case of the same Z coordinate,three-dimensional gait was synthesized.Eventually the method Conducted a validation and simulation through ZMP equation,combined with the actual system and its operational status analysis,the effectiveness of the proposed planning method was verified.

关 键 词：仿人机器人 解耦合成 ZMP方程 三维步态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]