基于步行单元组合的双足动步行样本生成方法

Dynamic Walking Sample Generation Method Based on the Combination of Walking Elements

仿人双足机器人的动步行需要考虑机器人的动力学特性,规划起来较为复杂。为了减少生成机器人步行样本时的计算量,本文提出了基于步行样本单元组合的运动样本生成方法。通过对步行运动进行分析,得到构成步行运动的基本单元;通过样本组合方法生成了含有后退步行的步行运动样本,仿真平均步速达到1.607 km/h。

It＇s neccessary to consider the robot dynamics characteristic for the reasearch of dynamic walking,and the trajectory planning is relatively complicated.In order to reduce the calculated amount when generating walking trajectories,a new walking sample generating method which is called the walking sample elements combination method is presented in this paper.Through the analysis of walking,the basic elements of walking is summarized.Then using the walking sample elements combination method a walking sample with backward walking is generated and at last,the method is verified by simulation.