Joint Trajectory Generation of Humanoid Robot's Lower Extremity for Human-like Biped Walking

摘要

The present invention relates to a human-like bipedal walking robot that allows humanoid robots to walk similar to human beings by expressing the trajectory data of the angle of the lower limb measured by the human being on a natural walking, (A) a step of planning a two-step gait pattern for dividing the cyclic walking of a humanoid robot into a double support and a single support state, (B) approximating the joint trajectory (data) measured at the time of the human body walking with a polynomial function; (C) interpolating the humanoid robot with the trajectory of the human body approximated by the polynomial function; (D) adjusting the parameter of the trajectory of the joint of the humanoid joint measured at the time of walking the human body, There makin achieved by including the step of adjusting at least one of a rate and step length.