双足机器人结构设计与步态规划

Structure design and gait planning of biped robot

为了增强机器人的行走效率,使机器人的步态更自然,且具有良好适应复杂路况的特点,设计了一款双足机器人研究平台,并建立双足机器人行走机构的运动学模型,同时对机器人的前向运动进行了步态规划,从而提高了机器人运动过程中的稳定性.采用三次样条插值方法得到机器人各关节的平滑运动轨迹.

In order to enhance the efficiency of the biped robot, make the robot has a more natural gaitand has good features to adapt to complex road, a biped robot research platform is designed, and a bipedal robot kinematics model is set up, the forward movement of bipedal robot gait is planned, so as to improve the stability of the robot motion process. The cubic spine interpolation is used to get smooth motion trajectory of the robot joints.