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针对双足机器人上楼梯的步态规划问题 ,应用三次样条插值合成脚踝的运动轨迹 ,并基于加速度分析设计出臀部运动轨迹 ,计算动力学模型得到 ZMP轨迹 ,进而得出机器人步行的稳定性可以表示为关于上体初始位姿的多变量优化问题 .最后应用遗传算法 (genetic algorithm,GA)求解 ,获得稳定性好的优化步态 .机器人上楼梯的动态步行仿真结果表明 ,运用遗传算法可以得到合适的优化轨迹 .
According to the gait planning problem of biped robot upstairs, cubic spline interpolation is used to synthesize the ankle motion trajectory, and the hip motion trajectory is designed based on acceleration analysis. The kinetic model is obtained to obtain the ZMP trajectory, and then the stability of robot walking can be obtained Which is expressed as a multivariable optimization problem about the initial pose of the upper body.Finally, genetic algorithm (GA) is applied to obtain the optimal gait with good stability.The results of the dynamic walking simulation of the robot on the stairs show that using the genetic algorithm Appropriate optimization trajectory.