双足行走机器人步态轨迹规划

 通过对双足机器人行走过程中一些特殊点进行采样分析,对比人类自身行走步态的观察测量值,采用三次多项式插值来计算出双足行走机器人在行走过程中的行走轨迹,按人体比例设定参数,计算得出了1条比较光滑平稳的行走轨迹,使得机器人的行走姿态更像人类的行走.通过模拟测试,结果表明了用三次多项式插值方法是1种规划双足机器人行走步态的较好方法,而且得出的轨迹插值函数比较平滑.

The planning walking trajectory of biped humanoid robot

The planning trajectory of humanoid robot bases on that some special sample points analysis during the biped humanoid robot walks,and compares with mankind itself walking gaits by observing and measuring the value of gaits,and also uses cubic polynomial interpolation to plan the trajectory of the biped walking humanoid robot in the course of walking,according to the height ration of human body,makes the walking posture of the biped robot more like human walking by calculating out a smoother and steadier walking trajectory.The result of simulation test indicates that the cubic polynomial interpolation method is a better way of planning trajectory of walking biped humanoid robot.Moreover the trajectory of interpolation function is smoother.