Based on the ZMP(zero moment point)trajectory and the walking data of human,a new method is proposed to improve the robot walking smoothness as well as to save energy.Firstly,a measurement system is designed to measur...Based on the ZMP(zero moment point)trajectory and the walking data of human,a new method is proposed to improve the robot walking smoothness as well as to save energy.Firstly,a measurement system is designed to measure the data of humans including the ZMP trajectory and the waist trajectory.Secondly,a new gait planning method which includes presetting the allowable ZMP region is proposed through analyzing human data.Thirdly,the new planning method is applied to the multi-link model based gait planning method.Finally,the feasibility of the proposed method is verified by simulation and experiments.展开更多
基金the National Natural Science Foundation of China(61320106012,61533004,61375103,61673069,61321002)the 863 Program of China(2015AA043202,2015AA042305)+2 种基金the Key Technologies R&D Program(2015BAF13B01,2015BAK35B01)the Beijing Municipal Science and Technology Project(D161100003016002)the"111"Project(B08043)
文摘Based on the ZMP(zero moment point)trajectory and the walking data of human,a new method is proposed to improve the robot walking smoothness as well as to save energy.Firstly,a measurement system is designed to measure the data of humans including the ZMP trajectory and the waist trajectory.Secondly,a new gait planning method which includes presetting the allowable ZMP region is proposed through analyzing human data.Thirdly,the new planning method is applied to the multi-link model based gait planning method.Finally,the feasibility of the proposed method is verified by simulation and experiments.
