计算机科学 ›› 2010, Vol. 37 ›› Issue (12): 215-217.
• 人工智能 • 上一篇 下一篇
王志良,于国晨,解仑
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WANG Zhi-liang,YU Guo-chen,XIE Lun
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摘要： 介绍了一种仿人机器人的新型步态规划方法。将仿人机器人前向步态简化为七连杆模型，侧向步态简化为五连杆模型;然后在Z坐标相等的情况下合成三维步态;最后通过ZMP方程来检验和仿真，并结合实际系统及其运行状况进行分析，验证了所提出规划方法的有效性。
关键词: 仿人机器人，解藕合成，ZMP方程，三维步态
Abstract: This paper presented a new type of humanoid robot gait planning method. The gait of humanoid robot was simplified as 7-link model, lateral gait of humanoid robot was simplified as 5-link model. And then in the case of the same Z coordinate, threcdimensional gait was synthesized. Eventually the method Conducted a validation and simulation through ZMP equation, combined with the actual system and its operational status analysis, the effectiveness of the proposed planning method was verified.
Key words: Humanoid robot, Decoupling synthesis, ZMP equation, Three-dimensional gait
王志良,于国晨,解仑. 基于解藕合成及ZMP方程的仿人机器人三维步态规划[J]. 计算机科学, 2010, 37(12): 215-217. https://doi.org/
WANG Zhi-liang,YU Guo-chen,XIE Lun. Three-dimensional Gait Planning for Humanoid Robots Based on Decoupling Synthesis and ZMP Algorithm[J]. Computer Science, 2010, 37(12): 215-217. https://doi.org/
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