双足步行机器人转弯步态规划及其实现  

Turning Gait Planning and Its Realization for Biped Walking Robots

作　　者：彭胜军[1] 税海涛[1] 杨庆[2] 马宏绪[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,湖南长沙410073 [2]装备指挥技术学院航天装备系,北京101416

出　　处：《信息与控制》2010年第6期783-788,800,共7页Information and Control

基　　金：国家863计划资助项目(2007AA041603)

摘　　要：针对双足步行机器人的转弯步态规划及其实现问题进行了研究.首先介绍了双足步行机器人转弯步态规划方法和所涉及的关键问题,包括关键点轨迹插值和逆运动学解算,然后给出了实现双足步行机器人转弯步态规划的具体步骤,最后通过对实验室新研制的双足步行机器人转弯运动进行仿真和实验研究,证实了本文所提出的几何约束加修正补偿的双足步行机器人转弯步态规划方法的有效性和可行性.The issue about turning gait planning and its realization for biped walking robots is discussed.The methods of turning gait planning for biped walking robots and the key problems involved are introduced firstly,including trajectory interpolation of key points and inverse kinematics solving.Then the processes of its realization for biped walking robots are given in detail.Finally,the computer simulation and experiment of turning motion are presented with the latest biped walking robot developed by our lab.By the results of simulation and experiment,the validation and feasibility of the turning gait planning method based on geometrical constraints plus modified compensation proposed in the paper are proved.

关 键 词：双足步行机器人 转弯运动 步态规划 三次样条插值 逆运动学解算 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]