双足步行机器人直线行走步态规划及关节轨迹研究

摘要

对教学用双足机器人物理样机进行步态规划,运用仿生学方法,参考人类稳态步行特点,规划出一个步行周期内机器人直线行走过程中各个阶段重心移动的规律,建立双足机器人局部坐标系,确定一个步态周期中摆动腿关节运动初始条件,采用多项式插值算法规划出机器人摆动腿部踝关节和髋关节轨迹.%Gait planning for the physical prototype of teaching-type biped robots is developed,and with a bionics method,with reference to the characteristics of human steady-state walking,the law of gravity movement at each stage in the robot straight-line walking process within a walking cycle is planned,the local coordinate system of biped robots is established,the initial conditions for swinging movement of leg joints within a gait cycle are determined and a polynomial interpolation algorithm is used to plan the trajectory of robot swinging leg ankle joints and hip joints.