摘要
提出一种针对类人机器人复杂运动的状态转换规划方法。该方法采用状态空间描述机器人的动作序列,以ZMP稳定判据对运动中的状态节点进行稳定性分析,采用多项式插值的方法实现状态之间的转换,对不满足稳定性要求的插值轨迹采取增加状态节点重新修正的方法,从而完成类人机器人的运动规划。机器人的起立过程的仿真结果表明,该方法简单可行、有效。
The paper presented research on state transition method for humanoid robot＇s complex motion planning. The robot＇s motion series was described by state space, and each state node was validated by ZMP stability criteria. The method based on polynomial interpolation was proposed for the state transition. In case the trajectory was unsatisfied to the ZMP criteria, new states were appended until the trajectory was within the ZMP stable region. The simulation of the humanoid robot to realize stand-up behavior shows the validation of the method.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2007年第6期659-662,共4页
China Mechanical Engineering
