教学型双足步行机器人转向步态规划方法的研究

Research on teaching biped robot steering stable gait planning method

双足机器人的步态规划包括直线行走和转向两个部分。在直线行走中,髋关节偏转的自由度被限制,而在转向过程中,最终的转向则必须通过髋关节的偏转才能实现。针对双足机器人转向时的步态规划问题,利用关节转向角进行多项式插值的方法,对机器人转向时的步态进行了规划。通过MATLAB和ADAMS建立虚拟样机,对步态规划结果进行仿真,仿真结果验证了步态规划的正确性。

Gait planning of biped robot including a straight walking and turning two parts. In a straight line walking, hip joint deflection degree of freedom is limited, but in the process of turning, eventually steering must be realized by deflection to hip joint. The gait of a biped robot steering, by using the method of polynomial interpolation of joint steercng angle, the robot steering gait is planned. The virtual prototype is established by MATLAB and ADAMS simulation of the gait planning results, the simulation results verify the correctness of the gait planning.