二足步行机器人三维动步行的单脚支持期的理论解析及仿真

THEORETICAL ANALYSIS AND EMULATIONS OF 3-DIMEN-SIONAL STEPPING IN A SINGLE LEG SUPPORTING PHASE OF BIPED LOCOMOTION ROBOT

摘要: 本文以二足步行机器人的三维动步行的实现为目的，对单脚支持期的10自由度二足步行运动提出了一种S平面和F平面非分离的运动学和逆动力学解析方法，并在计算机上进行了过程仿真．证明了该方法的有效性．

Abstract: In order to realize the three-dimentional stepping of biped locomotion robot,its ten-degree of freedon stepping process at one foot support stage were studied.A direct-kinematics and inverse-dynanics analysismethod with non-separating sagittal-plane and frontal-plane was proposed.The process emulation of thismethod was made by computer,and the result shows that the analysis method was effective.