3D Parametric Gait Planning of Humanoid Robot with Consideration of Comprehensive Biped Walking Constraints
YI Qiang1, CHEN Ken1,2, LIU Li1,2, FU Cheng-long1,2
1. Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China; 2. The State Key Laboratory of Tribology, Tsinghua University, Beijing 110168, China
伊强, 陈恳, 刘莉, 付成龙. 考虑综合步行约束的仿人机器人参数化3D步态规划方法[J]. 机器人, 2009, 31(4): 342-350..
YI Qiang, CHEN Ken, LIU Li, FU Cheng-long. 3D Parametric Gait Planning of Humanoid Robot with Consideration of Comprehensive Biped Walking Constraints. ROBOT, 2009, 31(4): 342-350..
Abstract：A parametric gait planning of 3D biped walking is proposed and a 13-rigid-body constrained dynamic model of humanoid robot is also established.With the considerations of six-point boundary constraints of successive and impact-less steps including SSP(single-support-phase) and DSP(double-support-phase),physical constraints of feasible gait and ZMP (zero moment point) stability constraints of locomotion,tow groups of slow and fast walking speed with smooth and nonjerky optimal joint trajectory curves to minimize integral quadratic amount of joint driving torques are obtained by adopting the parametric gait optimization approach,which makes the complicated joint trajectory planning problem transform into the optimization problem of limited parametric vectors composed of piecewise polynomial coefficients.The effectiveness of this method is confirmed by dynamic simulations and walking experiments on an actual humanoid robot.
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