摘要
针对双足机器人数学描述复杂、机器人运动学分析较为困难的问题,建立了机器人的运动学模型,提出了一种基于ZMP判据的两步步态规划方法,对机器人的前向运动进行了步态规划,采用工程上广泛应用的三次样条插值的方法得到机器人关节的运动轨迹.利用Matlab软件中的Sim Mechanics工具箱建立机器人仿真模型,仿真结果验证了步态规划的可行性,为机器人样机的研制提供理论依据.
Aiming at the problems of the ro-bot＇s complex mathematic description and difficult movement analysis,its kinematics model is built,a method of two-step gait planning is given based ZMP criterion,gait planning is carried for forward movement and robot joint motion trace is gotten by using the method of three order spline interpolation function.The simulation model of the robot is built through SimMechanics toolbox in Matlab software,simulation results validate feasibility of gait planning,a theoretical basis is provided for the development of the prototype.
出处
《机械与电子》
2011年第7期66-69,共4页
Machinery & Electronics
基金
黑龙江科技学院青年基金(07-06)
