摘要
首先介绍了无侧摆关节型两足步行机器人的平衡方法，然后对这类两足步行机器人转弯运动的步态规划进行了详细研究，建立了转弯过程中２只脚不发生干涉的条件以及为维持步行稳定性对重心的约束条件，最后通过对ＮＡＩＷＲ－１两足步行机器人的转弯运动进行计算机仿真，证实了本文所提出的转弯步态规划方法的正确性。
The balance method of biped robots without roll joints is described and the turning gaitplanning method for this kind of robots is studied in detail in this paper. The noninterferenceconditions of the two feet in turning motion and the constraining conditions to the center-of-gravity for maintaining walking stability are developed for one of the kind of robots. Finally，the computer simulation of turning left with NAIWR-1 biped robot is presented．From theresult of simulation， he correctness of the turning gait planning method proposed in the pa-per is proved.
基金
国家教委博士点科研基金
航空部科研基金
