On Biped Walking of Humanoid Robot Based on Movement Similarity
KE Wende1,2, CUI Gang1, HONG Bingrong1, CAI Zesu1, YUAN Quande1
1. School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China; 2. Department of Computer Science and Technology, Guangdong University of Petrochemical Techno
柯文德, 崔刚, 洪炳镕, 蔡则苏, 苑全德. 基于运动相似性的仿人机器人双足步行研究[J]. 机器人, 2010, 32(6): 766-772..
KE Wende, CUI Gang, HONG Bingrong, CAI Zesu, YUAN Quande. On Biped Walking of Humanoid Robot Based on Movement Similarity. ROBOT, 2010, 32(6): 766-772..
Abstract：A design method of biped walking actions of humanoid robot based on the movement similarity of human body is proposed.The system of parameter acquiring and similarity matching for human walking trajectory is improved,and the application range of similarity function is extended.The key postures and the sub-stage transformations during biped walking period are defined through the characteristics of mechanic chains of the humanoid robot,the constraint equations of movements are built,and the corresponding problems in the dynamic stabilization when walking are also restricted.The validity of this method is confirmed by simulation and actual robot experiment.
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