摘要
针对双足机器人,在线性倒立摆模型(LIPM)的基础上,提出了无双足支撑阶段的机器人快速行走优化方法.该方法在当前单足支撑阶段中寻找合适的换足时刻,使前后单足支撑阶段的质心位置与速度相匹配,达到了消除双足支撑阶段,提高行走速度的目的.在NAO机器人上进行对比实验发现:采用优化后的行走方法,机器人行走速度得到了明显提升.
In order to improve the speed of biped robot,an optimization method for fast walking without double support phase was present,based on linear inverted pendulum model.In this method,the suitable moment of foot changing was calculated in current single support phase and the position and velocity of COM(center of mass)matches in adjacent single support phases.Thus double support phase was eliminated and the speed of robots was improved.In the experiment carried out on NAO,the speed of robots was significantly improved with optimized walking method.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2015年第S1期333-336,共4页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(61203344)
上海市科委资助项目(12JC1408800)
关键词
双足机器人
线性倒立摆模型
质心轨迹
单足支撑阶段
双足支撑阶段
牛顿迭代法
biped robot
linear inverted pendulum model(LIPM)
trajectory of center of mass
single support phase
double support phase
Newton′s method
