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。
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 on a simulation platform prove that the proposed method is efficient.
出处
《科学技术与工程》
2011年第21期5066-5069,共4页
Science Technology and Engineering
关键词
双足步行
步态算法
仿人机器人
biped walking gait planning algorithm humanoid robot
