摘要
机器人稳定的步行行走模式在双足机器人的控制中占有很重要的地位,提出了一种基于三维线性倒立摆的机器人行走模型。通过机器人的三维倒立摆模型得到机器人质心的位置和速度,再结合机器人的逆运动学,求得机器人各关节的关节角度,驱动机器人关节运动。从而得到机器人完整的运动轨迹。
The stable walking pattern plays an important role in the control of biped robot.This research proposes a three-dimensional linear inverted pendulum model of walking robot. Through the three-dimensional inverted pendulum, the location of center of mass and speed of the robot can be calculated, combined with the robot＇s inverse kinematics, the angle of each joint of robot can be obtained. Then, these angles can be used to drive the movement of each joint of robot. At last, the complete trajectory of robot can be obtained.
出处
《计算机系统应用》
2012年第8期178-182,共5页
Computer Systems & Applications
关键词
双足机器人
三维线性倒立摆
逆运动学
biped robot
three-dimensional linear inverted pendulum
inverse kinematics
