杨东超, 汪劲松, 刘莉, 陈恳. 基于ZMP的拟人机器人步态规划[J]. 机器人, 2001, 23(6): 504-508.
引用本文: 杨东超, 汪劲松, 刘莉, 陈恳. 基于ZMP的拟人机器人步态规划[J]. 机器人, 2001, 23(6): 504-508.
YANG Dong-chao, WANG Jin-song, LIU Li, CHEN Ken. GAIT PLANNING OF HUMANOID ROBOT BASED ON ZMP[J]. ROBOT, 2001, 23(6): 504-508.
Citation: YANG Dong-chao, WANG Jin-song, LIU Li, CHEN Ken. GAIT PLANNING OF HUMANOID ROBOT BASED ON ZMP[J]. ROBOT, 2001, 23(6): 504-508.

基于ZMP的拟人机器人步态规划

GAIT PLANNING OF HUMANOID ROBOT BASED ON ZMP

  • 摘要: 拟人机器人具有广阔的应用前景,研制工作得到了各国的重视,近年来已取得巨大的进展,但仍存在大量的理论和技术问题有待深入研究,基于零力矩点(ZMP)的轨迹规划是需解决的关键技术之一.本文比较分析了一般的双足步行机与拟人机器人的步态规划特点和基于双足步行的两步规划方法,提出了一种适用于拟人机器人步态规划的新方法——逆两步规划法,仿真研究表明采用这种方法规划ZMP轨迹是可行的.

     

    Abstract: There is a broad application prospect in the development of humanoid robot. Its research and manufacturing work have attracted international attention. Great achievements have been made in recent years. However, many problems on theory and technology appear and need to be further researched on. Gait planning of humanoid robot based on ZMP is one of the critical techniques. On the base of comparing and analyzing humanoid robot′s different methods about gait planning, the article proposes a new way-inverse two step method. The simulation and research indicate that it is feasible to adopt this method to plan ZMP′s track.

     

/

返回文章
返回