摘要
在类人机器人的研究领域,关于双足机器人步态规划方法的研究一直是一个重点和难点.本文主要叙述在仿真平台下,对静步态规划方法和动步态规划方法的应用和测试,以及对实验结果进行的分析,并根据实验结果对算法进行一定的优化.希望能为双足机器人实现快速、平稳类人行走提供一定的参考.
In humanoid robot field of study, about double foot robot gait programming method research has been a important and difficult. This paper mainly describes： in the simulation flat, we gait programming method of static and dynamic gait programming method and the application of the test, and the experimental results analysis, and according to the experimental results of the algorithm is certain optimization. The hope for two feet robot realize fast and smoothly class man walk to provide certain reference.
出处
《漳州师范学院学报（自然科学版）》
2011年第4期40-46,共7页
Journal of ZhangZhou Teachers College（Natural Science)
基金
厦门市科技计划项目(3502Z20101007)
关键词
步态规划
平衡控制
运动模型
质心
gait planning
balance control
sports model
centroid
