摘要
随着科技发展,类人机器人的研究不断激起人们的研究兴趣并取得了巨大进展,但仍存在大量技术难题有待进一步研究。其中,类人机器人的步态规划是类人机器人研究中需解决的重要问题之一。为解决目前步态规划普遍存在的前进和侧移步态耦合的问题,提出了一种耦合步态规划方法。该方法基于传统的ZMP步态规划方法,首先建立运动学模型,然后规划踝关节和髋关节轨迹,逆运动学求得步态数据,最后通过ZMP位置判断步态稳定性,并将得到的稳定步态用于类人机器人样机GRM2010。
With the development of technology,research on humanoid robot has attracted people＇s interest and it has made great progress;however,there are still a large number of technical problems for further study.Gait planning is one of the most important problems for study.To solve forward gait and lateral gait coupling problem,it brings forward a way of coupling gait planning method.This method is based on ZMP gait planning method.First,it creates a kinematic model,and then it plans the ankle and hip joint trajectories.Then,it gets gait data by inverse kinematics.Finally,it determines the stability of the gait by the position of ZMP.The stable gait will be used for the humanoid robot prototype GRM2010.
出处
《机械设计与制造》
北大核心
2013年第1期52-54,共3页
Machinery Design & Manufacture
基金
清华大学摩擦学重点实验室资助(SKLT09A03)
