双足舞蹈机器人步态规划

Gait planning for biped dancing robot

以双足舞蹈机器人为对象,建立系统的多自由度运动学模型,在此基础上开展舞蹈机器人正运动学和逆运动学分析,根据行走步长、步宽、步行周期等运动参数求解机器人各关节角度;引入三维倒立摆模型,结合零力矩点(Zero-Moment-Point,ZMP)稳定判据,对舞蹈机器人进行步态规划稳定性分析;最后,结合对舞蹈机器人的行走步态进行了仿真分析,得到了各个关节的角度值,可作为舞蹈机器人的输入控制参数.

The multi-degree of freedom kinematic model ot the biped dancing robot has been establisned in this paper. The angles of the knee, hip and ankle have been solved by performing the kinematic and invert kinematic analyzing of the dancing robot with the given step width, step length, walking period, etc. The gait planning of the dancing robot has been proposed by introducing the three-dimensional invert pendulum model and employing the zero-moment point（ZMP） stability theory. The numerical simulations are carried out for special WS parameters in this paper and the value of each angle of the dancing robot obtained in this paper could be used as input for motion controlling.