双足机器人拟人步行模式研究

Research on humanoid walking pattern for a biped robot

根据双足步行机器人具有拟人腿的特点,通过对人体步行样式的分析,采用三次多项式计算方法规划步行机器人在一个完整行走周期里拟人稳态步行模式,分别建立hip、knee和ankle关节在前向模型中的轨迹曲线方程。并通过建立、分析和简化其动力学模型验算步行模式的ZMP轨迹的稳定性,提出保证步行模式稳定性的ZMP边界约束条件。最后对稳态步行模式进行仿真描述和相应实验,仿真和实验结果表明其具有很好的连续性和平滑性。

A human walking pattern was analyzed and researched in detail and the mechanical prototype was known as humanoid special for the leg, thereby a humanoid stable walking pattern during one walking cycle was planned for the bipedal robot based on cubic polynomial algorithm. Meanwhile the hip, knee and ankle walking trajectories of the sagittal motion was formulated respectively. Besides, ZMP trajectory was calculated and the stability was proved by the analysis and simplification of kinetics. Then the confineable condition of ZMP to ensure the stability of walking pattern was argued. At last, the results of walking pattern simulation and corresponding experiment indicated that the walking trajectories were satisfactory in continuity and smoothness.