| 双足机器人快速直线步行的一种步态规划 |
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| 引用本文： | 富巍,陈彦.双足机器人快速直线步行的一种步态规划[J].齐齐哈尔大学学报(自然科学版),1992(3). |
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| 作者姓名： | 富巍 陈彦 |
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| 作者单位： | 齐齐哈尔轻工学院
(富巍)，齐齐哈尔铁路工程学校(陈彦) |
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| 摘 要： | 本文把双足步行机器人简化成五连杆平面模型,提出了用平稳步行和ZMP点的约束条件来解决冗余自由度问题的方法,在此基础上分析了上身躯参数对其初始摆动角和角速度的影响,最后用多项逼近的方法给出了动力学模型的近似解,实现了实时步态规划。
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| 关 键 词： | 双足步行机器人 悬挂点 平稳步行 ZMP点 |
A Walking Programme of Two Feet Robot with Fast Straight Stepping |
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| Fu Wei.A Walking Programme of Two Feet Robot with Fast Straight Stepping[J].Journal of Qiqihar University(Natural Science Edition),1992(3). |
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| Authors: | Fu Wei |
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| Institution: | Fu Wei
(Qiqihar Light Industry Institute)
Chen Yan
(Qiqihar RaiLawy Engineering School) |
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| Abstract: | The two feet walking robot must be simplified into a plane model of five connecting rod, meanwhile the Limited condition of a smooth step walking and ZMP be proposed to solve the remainder degree of freedom. And the upper body parameters are analysed, which affects the angle of an original swing and a speed, the approximate solution of dynamic equation can be calculated with the multinomical approxim ation, and the timely walking programme has been accomplished. |
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| Keywords: | Two feet waling robot Suspended point Smooth step walking ZMP |
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