徐凯, 陈恳, 刘莉, 杨东超. 基于主支撑腿运动优化的仿人机器人快速步态规划算法[J]. 机器人, 2005, 27(3): 203-209.
引用本文: 徐凯, 陈恳, 刘莉, 杨东超. 基于主支撑腿运动优化的仿人机器人快速步态规划算法[J]. 机器人, 2005, 27(3): 203-209.
XU Kai, CHEN Ken, LIU Li, YANG Dongchao. Fast Walking Gait Planning Algorithm for Humanoid Robots Based on Optimization of the Main Support Leg[J]. ROBOT, 2005, 27(3): 203-209.
Citation: XU Kai, CHEN Ken, LIU Li, YANG Dongchao. Fast Walking Gait Planning Algorithm for Humanoid Robots Based on Optimization of the Main Support Leg[J]. ROBOT, 2005, 27(3): 203-209.

基于主支撑腿运动优化的仿人机器人快速步态规划算法

Fast Walking Gait Planning Algorithm for Humanoid Robots Based on Optimization of the Main Support Leg

  • 摘要: 提出一种基于主支撑腿运动优化的快速步态规划算法,利用快速动态步行的特点,规划ZMP(ZeroMomentPoint)适时地离开质心投影并始终停留在稳定的支撑区域内.规划过程中考虑了仿人机器人摆动足触地时的碰撞,整个步态产生于深度的优化过程.

     

    Abstract: This paper brings forward a fast walking gait planning algorithm based on optimization of the main support leg, which utilizes the characteristics of fast dynamic walking to plan the ZMP(Zero Moment Point) to get away from the projection area of mass center in good time and stay always within the stable area. During the gait planning process, the collision between the robot's swing foot and ground is considered. The gait cycle is generated in deep optimizations.

     

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