ZMP-based Gait Optimization of the Biped Robot

The gait of the biped robot is described using six parameters such as stature,velocity,length of the step,etc.The algorithm of the Newton-Euler is actualized by object-oriented idea,and then the zero moment point (ZMP) of the dynamically walking biped is calculated.Finally,the gait of biped is optimized using gene algorithm,and the optimized result prove the correctness of the algorithm.

类人足球机器人无侧摆动态步态规划研究

针对类人足球机器人提出了一种无侧摆的动态步态规划方法,从模型原理、数学描述、计算流程、求解方法等方面做了详细的阐述,并通过检验前向和侧向ZMP(零力矩点)位置证明机器人运动过程中无侧摆并保持了自身平衡。最后探讨了步态周期、步长、髋关节水平位置和竖直高度对于机器人行走稳定性的影响。