| 基于HMCD的仿人机器人步态规划 |
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| 引用本文： | 彭秀艳,丁虎,屈阳.基于HMCD的仿人机器人步态规划[J].系统仿真学报,2008,20(24). |
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| 作者姓名： | 彭秀艳 丁虎 屈阳 |
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| 作者单位： | 哈尔滨工程大学自动化学院 |
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| 摘 要： | 结合机器人本体结构设计和自由度配置,分析、调整了HMCD(Human Motion Capture Data)。采用模仿法把调整后的步态应用于步态规划。根据目前大多采用的两步规划法的不足,给出了改进后的三步规划法,并结合零力矩点(ZMP)稳定判据方法规划得到机器人稳定行走的关节运动曲线。最后对机器人前向运动、侧向运动进行了仿真,仿真结果表明基于HMCD的三步规划法可行。
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| 关 键 词： | 仿人机器人 三步规划法 ZMP稳定判据 |
Walking Gaits Planning for Humanoid Robots Based on HMCD |
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| PENG Xiu-yang,DING Hu,QU Yang.Walking Gaits Planning for Humanoid Robots Based on HMCD[J].Journal of System Simulation,2008,20(24). |
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| Authors: | PENG Xiu-yang DING Hu QU Yang |
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| Abstract: | According to the given structure of the humanoid robot, HMCD (Human Motion Capture Data) of the robot was adjusted, and then was used in gait planning with the curve imitating law. As the two step-planning method still has shortages, an improved three step-planning method was given. With the help of ZMP stable criterion, the joint movement curves were given with the three step-planning which the robot walked stably. The forward and lateral movement of the robot was simulated. The simulation results show that the three step- planning is feasible based on HMCD. |
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| Keywords: | HMCD |
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