摘要
介绍了一种仿人机器人的新型步态规划方法。将仿人机器人前向步态简化为七连杆模型,侧向步态简化为五连杆模型;然后在Z坐标相等的情况下合成三维步态;最后通过ZMP方程来检验和仿真,并结合实际系统及其运行状况进行分析,验证了所提出规划方法的有效性。
This paper presented a new type of humanoid robot gait planning method.The gait of humanoid robot was simplified as 7-link model,lateral gait of humanoid robot was simplified as 5-link model.And then in the case of the same Z coordinate,three-dimensional gait was synthesized.Eventually the method Conducted a validation and simulation through ZMP equation,combined with the actual system and its operational status analysis,the effectiveness of the proposed planning method was verified.
出处
《计算机科学》
CSCD
北大核心
2010年第12期215-217,共3页
Computer Science
基金
国家863高技术研究计划课题(2007AA04Z218)
国家自然科学基金课题(No.60573059)
中央高校基本科研务费专项资金(FRF-BR-09-023B)资助
关键词
仿人机器人
解耦合成
ZMP方程
三维步态
Humanoid robot
Decoupling synthesis
ZMP equation
Three-dimensional gait
