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基于环境分层方法的双足机器人路径规划研究

Path planning for biped robots based on environment stratification
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摘要 为了实现双足机器人在障碍环境中的路径规划,提出一种将三维环境分层的方法,用两个截面将环境分为高于机器人身高障碍层、低于机器人抬脚高度障碍层和中间障碍层。首先在中间障碍层进行机器人轨迹规划,再根据机器人各种步态的不同损耗构建代价函数,把规划好的轨迹放到最底层进行规划修改,最终得到双足机器人在规划路径上代价最小的一系列连续的动作,通过计算机仿真实验验证了方法的有效性。 In order to achieve path planning among obstacles environment for biped robot, this paper proposed a method that di- vided the three-dimension environment into three parts : the obstacles layer above robot' s height, the obstacles layer below ro- bot' s moving foot height, and the middle obstacles laye~ between the above two sections. First of all, make trajectory plan^ing in the middle obstacles layer, and structure cost function based on the different transfer of losses due to the different gait, then placed the middle-tier planning trajectory on to the below layer for planning and modifying. Eventually, it got a series of continu- ous action of minimum cost for Biped Robots path planning. Computer simulation experiment shows that this method is effective.
出处 《计算机应用研究》 CSCD 北大核心 2013年第2期389-391,共3页 Application Research of Computers
关键词 双足机器人 路径规划 环境分层 轨迹规划 代价函数 biped robots path planning tiered of the environment trajectory planning cost timetion
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