双足机器人步态规划方法研究  

Method of Gait Planning for Biped Robot

作　　者：李攀[1] 魏洪兴[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《机械工程与自动化》2017年第4期22-24,共3页Mechanical Engineering & Automation

摘　　要：主要研究基于髋关节高度和姿态补偿的双足机器人拟人化步态规划方法,建立了机器人的前向和侧向运动学模型,分析了步行过程中机器人在关键时刻的位姿,并通过三次样条插值方法对双足机器人进行完整的步态规划,得到机器人各关节平滑的运动轨迹,验证了该方法是可行的。最后,与传统的步态规划方法进行对比,得到的仿真结果表明使用该步态生成方法对机器人性能有较大提升。A humanoid gait planning method based on the hip height and attitude compensation for biped robot is proposed in this paper.Firstly,the sagittal and lateral kinematics models of the robot are established.Then,the positions and attitudes at critical moments in the course of walking of the robot are analyzed.At the same time,a complete gait planning is accomplished by using the cubic spline interpolation method,and the obtained smooth trajectory of each joint of the robot verifies the feasibility of the proposed method.Finally,compared with the traditional gait planning method,the simulation results show that the proposed method can greatly improve the robot performance.

关 键 词：双足机器人 零力矩点 三次样条插值 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]