摘要
本文介绍了一种双足步行机器人的步态规划方法,以前向运动为例,详细介绍了先分阶段规划然后合成的方法,并讨论了行走过程中的冲击振动问题及减振措施。
In this paper,we put forward a method for humanoid robot gait planning. We take forward motion for example, illustrate the phase planning and compound method in detail. This paper also discusses the impact vibration problem and how to get rid of it. The experiment and simulation result verified the validation of the method.
出处
《机器人技术与应用》
2002年第3期16-18,共3页
Robot Technique and Application
