一种双足机器人的步态规划研究

The Study of the Gait Planning of a Biped Robot

针对5连杆双足机器人,提出基于笛卡儿坐标系和广义坐标的建模方式。利用三次样条插值算法对5连杆双足机器人的步态规划进行了研究,并对机器人的髋关节和躁关节轨迹进行Matlab仿真,仿真结果表明该算法可生成连续的平滑轨迹,满足工业机器人连续稳定行走的要求。

Owing to a five bar linkage robot, a modeling which based on Cartesian Coordinate system and generalized coordinates was proposed. The gait planning of the biped robot was studied by using the method of 3rd order spline interpolation algorithm. The hip and impatient joint trajectory of the robot was emulated using Matlab. The result shows that the algorithm can make a continuously smooth moving trajectory of position and velocity, resulting in the moving trajectory of manipulation continuously smooth, which satisfies the industrial robot need.