基于三维线性倒立摆的双足机器人步态规划

摘要

Gait control strategies are an important factor affecting the walking stabiliti of bipedal robots.Offered a kind of gait planning algorithm of biped robot based on 3D linear inverted pendulun.Firstly,simplify the original 3D inverted pendulum model and suppose the location of the ZMP for the starting state of walking cycle.Secondly the function between centroid and time derived from equations of motion.Then simplify gait planning of biped robot to each walking cycle and get the relevant parameters of the functions through initial conditions for each cycle.Finally ,extend this method to the direction of the gait planning.Experimental results demonstrate the feasibility and effectiveness of the approach.%双足机器人的步态控制策略是保证双足稳定行走的重要条件之一.提出一种基于三维线性倒立摆模型的双足机器人步态规划的算法.首先简化了三维倒立摆模型,并且假设了步行周期起始状态的ZMP位置,然后通过运动方程推导出含参数的质心与时间的函数,再将机器人的步态规划简化到每个步行周期,通过每个周期的初始条件获得函数的相关参数,最后将此方法推广到带转向的步态规划中,并应用于实际Robocup3D比赛中.实验结果表明该方法具有可行性和有效性.