YANG Tianqi, ZHANG Weimin, HUANG Qiang, CHEN Xuechao, YU Zhanguo, MENG Libo. A Smooth and Efficient Gait Planning for Humanoids Based on Human ZMP[J]. 机器人, 2017, 39(5): 751-758. DOI: 10.13973/j.cnki.robot.2017.0751
引用本文: YANG Tianqi, ZHANG Weimin, HUANG Qiang, CHEN Xuechao, YU Zhanguo, MENG Libo. A Smooth and Efficient Gait Planning for Humanoids Based on Human ZMP[J]. 机器人, 2017, 39(5): 751-758. DOI: 10.13973/j.cnki.robot.2017.0751
YANG Tianqi, ZHANG Weimin, HUANG Qiang, CHEN Xuechao, YU Zhanguo, MENG Libo. A Smooth and Efficient Gait Planning for Humanoids Based on Human ZMP[J]. ROBOT, 2017, 39(5): 751-758. DOI: 10.13973/j.cnki.robot.2017.0751
Citation: YANG Tianqi, ZHANG Weimin, HUANG Qiang, CHEN Xuechao, YU Zhanguo, MENG Libo. A Smooth and Efficient Gait Planning for Humanoids Based on Human ZMP[J]. ROBOT, 2017, 39(5): 751-758. DOI: 10.13973/j.cnki.robot.2017.0751

A Smooth and Efficient Gait Planning for Humanoids Based on Human ZMP

A Smooth and Efficient Gait Planning for Humanoids Based on Human ZMP

  • 摘要: Based on the ZMP (zero moment point) trajectory and the walking data of human,a new method is proposed to improve the robot walking smoothness as well as to save energy.Firstly,a measurement system is designed to measure the data of humans including the ZMP trajectory and the waist trajectory.Secondly,a new gait planning method which includes presetting the allowable ZMP region is proposed through analyzing human data.Thirdly,the new planning method is applied to the multi-link model based gait planning method.Finally,the feasibility of the proposed method is verified by simulation and experiments.

     

    Abstract: Based on the ZMP (zero moment point) trajectory and the walking data of human,a new method is proposed to improve the robot walking smoothness as well as to save energy.Firstly,a measurement system is designed to measure the data of humans including the ZMP trajectory and the waist trajectory.Secondly,a new gait planning method which includes presetting the allowable ZMP region is proposed through analyzing human data.Thirdly,the new planning method is applied to the multi-link model based gait planning method.Finally,the feasibility of the proposed method is verified by simulation and experiments.

     

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