摘要
针对现有仿人机器人行走系统步态规划计算过程复杂的问题,提出了一种基于单位圆法的步态规划方法,并用此方法进行了步态规划研究。建立了仿人机器人行走系统运动模型,运用单位圆法计算了起脚过程的步态参数;结合地面约束条件和运动约束条件,创建了关键时刻约束条件方程式,应用高次插值方法得到了行走系统的步态曲线,并依据规划参数进行了实验和相对误差分析。结果表明,基于单位圆法的步态规划方法正确,简化了仿人机器人步态规划过程,为仿人机器人行走系统的步态控制提供了参考依据。
Aiming at the computation complexity of the existing gait plannings for humanoid robots＇ walking system, a new gait planning method based on the unit circle method was proposed, and a study of a robot＇ s gait planning was performed by using the method. A kinematic model for the walking system of the humanoid robot was established, and the unit circle method was applied to calculation of gait parameters of the beginning phases. In terms of the con- straint conditions on the ground and the kinematic constraints, the constraint equations at the critical moment were created. A higher degree interpolation method was used to obtain walking gait curves in the system, and the relative error analysis and experiment were done according to the planning parameters. The experimental results demonstrate that the gait planning based on the unit circle method is correct, and this approach not only simplifies the gait plan- ning process of humanoid robots, but also provides referential bases for the gait planning of humanoid robots.
出处
《高技术通讯》
CAS
CSCD
北大核心
2014年第3期289-295,共7页
Chinese High Technology Letters
基金
863计划(2010AA040201)
教育部新世纪人才项目(NCET:120731)
吉林省教育厅"一二五"(2013123)资助项目
关键词
仿人机器人
步态规划
单位圆法
humanoid robot, gait planning, unit circle metheod
