机器人2009，Vol.31Issue(4)：342-350,9.
考虑综合步行约束的仿人机器人参数化3D步态规划方法
3D Parametric Gait Planning of Humanoid Robot with Consideration of Comprehensive Biped Walking Constraints
摘要
Abstract
A parametric gait planning of 3D biped walking is proposed and a 13-rigid-body constrained dynamic model of humanoid robot is also established. With the considerations of six-point boundary constraints of successive and impact-less steps including SSP (single-support-phase) and DSP (double-support-phase), physical constraints of feasible gait and ZMP (zero moment point) stability constraints of locomotion, tow groups of slow and fast walking speed with smooth and non-jerky optimal joint trajectory curves to minimize integral quadratic amount of joint driving torques are obtained by adopting the parametric gait optimization approach, which makes the complicated joint trajectory planning problem transform into the optimization problem of limited parametric vectors composed of piecewisepolynomial coefficients. The effectiveness of this method is confirmed by dynamic simulations and walking experiments on an actual humanoid robot.关键词
仿人机器人/双足步行/零力矩点(ZMP)/步态规划/参数化优化Key words
humanoid robot/ biped locomotion/ zero moment point (ZMP)/ gait planning/ parametric optimization分类
信息技术与安全科学引用本文复制引用
伊强,陈恳,刘莉,付成龙..考虑综合步行约束的仿人机器人参数化3D步态规划方法[J].机器人,2009,31(4):342-350,9.基金项目
国家自然科学基金资助项目(50805082,50575119) （50805082,50575119）
国家863计划资助项且(2006AA04Z253):教育部博士点基金资助项目(20060003026). （2006AA04Z253）
