摘要
本文给出一种基于主-从控制实现双足机器人动步态行走的控制方法.该方法计算量小,可以在线规划步态及实现双脚支撑期平滑的动态切换.仿真及实验结果验证了方法的有效性及可行性,实现了变步态动态行走.实验所采用的装置为 HLTR—13双足机器人.该机器人重65kg,高1.1m,具有12个自由度.实验结果表明,本文给出的方法能较好地实现变步态动态行走。从而使机器人具有较强的环境适应能力.
This paper presents a control method which is based on master-slave control to realize dynamic locomotionof biped robot.The computational load of this method is low so that it can plan walking patterns on-line andaccomplish smooth dynamic switching in double-support phase.Simulation and experiment results show thatthe method is effective and practical.To realize dynamic locomotion with changing walking patterns.The ap-paratus used in the experiment is a HITR-13 biped robot with 12 DOFs.The experiment results also showthat the method can make biped robot to be well adaptive to environments.
出处
《机器人》
EI
CSCD
北大核心
1992年第4期7-12,共6页
Robot
关键词
主-从控制
双足
机器人
动态行走
biped robot
dynamic locomotion
master-slave control
