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为了提高仿人双足机器人行走的稳定性及自主性,提出一种基于帧描述及位姿变换的双足步行机器人新型步态生成方法,该方法将一个行走周期细分为14帧,根据机器人的实际结构尺寸并利用几何约束进行步态规划及规划合成。然后根据ZMP(zero moment point)理论及位姿矩阵算法,对所得到的数学建模以及行走过程中的稳定性、智能性等进行了仿真研究。在此基础上完成了基于嵌入式系统的双足机器人系统平台,最后在平台上的实验及仿真结果验证了所提出规划方法的有效性。
In order to improve the stability and autonomy of walking biped robot, a novel gait generation method for biped robot based on frame description and posture-changing is proposed. The method divides a walking cycle into 14 frames, The actual structure size and the use of geometric constraints for gait planning and planning and synthesis. Then, based on ZMP (zero moment point) theory and pose-matrix algorithm, the mathematical modeling and the stability and intelligence in walking process are simulated. Based on this, a biped robot system platform based on embedded system is completed. Finally, the experimental and simulation results on the platform verify the effectiveness of the proposed planning method.