| 机器人步态算法仿真研究 |
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| 引用本文： | 冼进,毕盛,庄钟杰.机器人步态算法仿真研究[J].科学技术与工程,2011,11(21):5066-5069. |
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| 作者姓名： | 冼进 毕盛 庄钟杰 |
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| 作者单位： | 华南理工大学计算机科学与工程学院,广州,510641 |
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| 摘 要： | 以仿人机器人双足步行为研究重点,实现了线性倒立摆步行规划和正逆运动学算法。推导出机器人机械结构对线性倒立摆步行参数的约束条件,并采用遗传算法探索参数空间以得到可行、稳定、快速的步行模式。最后,在该仿真平台上验证了步态生成算法的有效性。
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| 关 键 词： | 双足步行 步态算法 仿人机器人 |
| 收稿时间： | 4/11/2011 3:24:44 PM |
| 修稿时间： | 4/11/2011 3:24:44 PM |
Research of Humanoid Robot Gait Algorithm |
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| xian jin,BI Sheng and ZHUANG Zhong-jie.Research of Humanoid Robot Gait Algorithm[J].Science Technology and Engineering,2011,11(21):5066-5069. |
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| Authors: | xian jin BI Sheng and ZHUANG Zhong-jie |
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| Institution: | School of Computer Science & Engineering ,South China University of Technology,,School of Computer Science & Engineering ,South China University of Technology, |
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| Abstract: | Gait planning is a hot research point of biped humanoid robot,a gait planning method based on linear inverted pendulum model and the algorithms of forward and inverse kinematics analysis are implemented,so as to infer the constraint condition of robot's mechanical structure on parameters of linear inverted pendulum model.And an exploration mechanism based on genetic algorithm is proposed to find the proper,stable and fast walking pattern in the parameter space for the humanoid robot.The experimental results... |
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| Keywords: | biped walking gait planning algorithm humanoid robot |
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