双足机器人的两种步态规划的解耦分析及比较  

Decoupling Analysis and Comparison of Two Gait Planning for Biped Robot

作　　者：任杰[1] 许江淳[1] 岳秋燕 余丽玲[1] 

机构地区：[1]昆明理工大学信息工程与自动化学院,云南昆明650500

出　　处：《软件》2017年第12期10-17,共8页Software

基　　金：国家自然科学基金项目资助(61363043)

摘　　要：在双足机器人行走步态规划的研究中,首先对前进方向和侧面摆动进行解耦,建立运动学数学模型,运用ZMP稳定性判据作为双足机器人行走稳定性判断标准,利用时序构造函数法和三次样条插值法对双足机器人运行步态进行规划。利用matlab软件编程和仿真,能够体现出不同规划方法下步行状态在时间和空间的特征,仿真结果对比表明,利用三次样条插值法的步态规划,能够更好的反映出双足机器人的步行稳定性。In the research of biped robot gait planning, firstly, the forward direction and lateral swing are de-coupled, and then the mathematical model of kinematics is established. The ZMP stability criterion is used to judge the walking stability of biped robot. Gait planning of biped robot is carried out by using the sequential constructing method and the cubic spline interpolation method. Using MATLAB programming and simulation, by which can re-flect the different characteristics of the walking state in time or space under different planning methods. The simula-tion results show that the gait planning of the cubic spline interpolation method can better reflect the walking stabil-ity of biped robot.

关 键 词：双足机器人 时序构造函数 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]