三次样条插值方法在Nao机器人步态规划中的应用  

Cubic Spline Interpolation for the Nao Robot Gait Planning

作　　者：黄春林[1] 张祺[1] 杨宜民[1] 

机构地区：[1]广东工业大学自动化学院,广东广州510090

出　　处：《机电工程技术》2011年第2期62-64,105,共3页Mechanical & Electrical Engineering Technology

摘　　要：以仿真Nao机器人为研究对象。将三次样条插值方法应用到其步态规划中,根据关键时刻主要节点位姿规划整个步态周期各关节的运动规迹。首先分析了Nao机器人行走过程,获取步态周期中关键时刻的位姿;然后构造三次样条插值函数,对Nao机器人步态进行规划,保证了机器人步态的平滑性;最后通过RoboCup3D仿真平台验证了方法的有效性。The smoothness is key issues of biped-robot's gait trajectory control. This paper analyzes the Nao robot walking process and access to a posture of crucial moment in the gait cycle. Then, construct cubic spline interpolation function on the Nao robot gait planning. Finally, the smoothness of the robot gait is ensured and the validity of the method is verified by RoboCup3D simulation platform.

关 键 词：Nao机器人 步态规划 三次样条插值 

分 类 号：D241.3[政治法律—政治学]