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一种提高双足机器人机动性的步行模式规划方法 被引量：3

Novel Gait Pattern Planning Method for Increasing Flexibility of Biped Robot
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摘要 为提高双足机器人的机动性以适应更宽更广的应用领域,提出一种在线规划方法.该方法根据最新的控制命令生成足迹,然后利用动力学方程的解析解在线同步规划质心(CoG)轨迹和零力矩点(ZMP)轨迹,并基于离散化算法解决机器人速度改变较大时局部ZMP轨迹的扰动问题,使其符合稳定性判据.该方法可使机器人在行走过程中一步实现任意的足迹改变,具有很高的机动性,经过在实体机器人Nao上进行效果验证并取得预期结果. The increase of flexibility of biped robot brings larger application range. Aiming at this problem, a real time planning meth- od is presented. This method generates footstep according to the latest command. Trajectories of Center of Gravity （ CoG ） and Zero Moment Point （ZMP） are simultaneously planned in real time based on the analytical solution of dynamic equation. This method also solves ZMP fluctuation problem by using a discretization method. The robot is able to change to arbitrary footstep by only one step. We conducted experiments on a real robot named Nao and obtained the expected results.
作者 薛峰 陈小平
机构地区 中国科学技术大学计算机科学与技术学院
出处 《小型微型计算机系统》 CSCD 北大核心 2012年第9期1928-1933,共6页 Journal of Chinese Computer Systems
基金 国家高科技项目(2008AA01Z150)资助 国家自然科学基金项目(60745002 61175057 61105039)资助
关键词 双足机器人 同步规划 步行模式 线性倒立摆模型 biped robot simultaneously planning gait pattern linear inverted pendulum
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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共引文献49

同被引文献34

  • 1张志能.基于固高GT400卡在焊线机的设计与实现[J].电子工业专用设备,2007,36(9):39-45. 被引量：3
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小型微型计算机系统
2012年 第9期

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