仿人机器人步态规划反馈控制研究综述

摘要

Humanoid robot gait planning is one of the most important research areas.The main methods of humanoid robot gait planning, feedback control method and not feedback control method, are introduced.The characteristics of feedback control gait planning are summarized and described the concrete control method and process of many famous humanoid robots,such as Asimo,HRP,KHR and Darmstad.The problems of feedback control gait planning to bc solved in the future are listed.%仿人机器人步行稳定性是机器人领域重要研究内容之一.介绍了仿人机器人常用的步态规划方法,划分为非反馈式和反馈式的两种步态规划算法.总结了反馈式步态规划主要研究的内容,并以世界著名Asimo、HRP、KHR和Darmstad仿人机器人为例,描述仿人机器人具体反馈控制方法和过程.探讨了仿人机器人步态反馈控制中有待研究的内容.