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双足步行机器人快速步行与仿真(英文)

Fast Walking Pattern Generation and Simulation for Biped Robot
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摘要 结合基于预观控制的ZMP步态生成模式的优点并引入脚尖脚后跟与地面间的旋转关节,以生成双足步行机器人质心和踝关节轨迹,同时提出了侧向质心摆动幅度递减方法以降低快速步行下侧向关节力矩。通过2km/h双足动步行样本生成实例,利用机械设计与动力分析软件在虚拟物理环境下实现了快速动步行,验证了所提出方法的有效性。 Integrating advantages of the preview control of ZMP method with rotation about the front edge of the stance foot, a fast walking pattern generation was proposed to generate COM and ankles trajectories. Furthermore, by introducing a method to gradually decrease the COM lateral swing range, smaller joint drive torque was gotten under conditions of fast walking. The walking pattern generated with speed 2 [km/h], and by using mechanism design and dynamic analysis software biped dynamic walking was realized to validate the effectiveness of this method under physical environment.
作者 蔚伟 吴伟国
机构地区 哈尔滨工业大学机械设计系
出处 《系统仿真学报》 CAS CSCD 北大核心 2009年第13期4014-4018,共5页 Journal of System Simulation
基金 Project (2006AA04Z201) supported by the National High-tech Research Development Program ("863" Program)
关键词 步态生成 快速步行 双足步行机器人 预观控制 walking pattern generation fast walking biped robot preview control
分类号 TP242.6 [自动化与计算机技术—检测技术与自动化装置]
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参考文献21

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系统仿真学报
2009年 第13期

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