两足步行机器人动态步行的步态控制与实时时位控制方法

GAIT CONTROL AND REALTIME PT CONTROL STRATEGY OF BIPED DYNAMIC WALKING

本文讨论两足步行机器人动态步行实时控制中的步态控制方法．在姿态控制条件下，详细分析了步行系统的步态稳定性，提出了步态控制器的构造和设计方法，综合姿态控制器和步态控制器，提出了动态步行实时时位控制方案，最后运用仿真模型验证了这一实时控制方案的可行性．

This paper explores the realtime gait control method of biped dynamic walking. Under the condition of posture control, the gait stability of walking process is discussed in detail, and the structure and the design method of gait controller are presented. Based on posture control and gait control, this paper provides a realtime TP (TimePosition) control strategy for biped dynamic walking. The simulation results demonstrate that the proposed realtime control scheme is feasible.