摘要
本文把双足步行机器人简化成五连杆平面模型,提出了用平稳步行和ZMP点的约束条件来解决冗余自由度问题的方法,在此基础上分析了上身躯参数对其初始摆动角和角速度的影响,最后用多项逼近的方法给出了动力学模型的近似解,实现了实时步态规划。
The two feet walking robot must be simplified into a plane model of five connecting rod, meanwhile the Limited condition of a smooth step walking and ZMP be proposed to solve the remainder degree of freedom. And the upper body parameters are analysed, which affects the angle of an original swing and a speed, the approximate solution of dynamic equation can be calculated with the multinomical approxim ation, and the timely walking programme has been accomplished.
关键词
悬挂点
平衡步行
ZMP点
机器人
Two feet waling robot Suspended point Smooth step walking ZMP
