摘要
通过分析 ZMP 性质,提出了矢状面内膝关节和髋关节轨迹规划的约束条件,规划了仿人型跑步机器人单脚支撑期的稳定性条件。仿真结果表明所规划的机器人关节角度变化平稳并符合稳定性条件。
This paper points out the restriction condition of joints in sagittal plane based upon the characteristic of the ZMP.,and presents the stability criterion of the running robot in the single-support phase.The simulating results show the planed robot has the calm changed angles of joints and is according with the stability criterion
出处
《机械》
2006年第S1期7-9,共3页
Machinery
