小型仿人机器人逆运动学分析及步态规划

Inverse Kinematics Analysis and Gait Planning of Small Humanoid Robot

基于机器人学的理论基础,在对小型仿人机器人几何机构和行走特点进行分析的基础上,加入了机构的约束条件,讨论了这些约束条件的来源,并用"滑移杆"化简方法进行了逆运动学变换,得到了逆运动学方程的反解。在此基础上实现对机器人步态规划,并且进行了验证。

In this paper, based on the theory of robotics, the analysis of robot structure and walking characteristics, joined the constraints of mechanical structure, discussed the sources of these constraints and use the ＂sliding bar＂ simplified method to do the inverse kinematics transformation, got the inverse solution applications of the inverse kinematics equations. On this basis; achieved the robot gait planning, and validated the inverse solution.