机械与电子Issue(7)：66-69,4.
双足机器人步态规划与运动学仿真研究
Research of Gait Planning and Kinematics Simulation for Biped Robot
摘要
Abstract
Aiming at the problems of the ro bot's complex mathematic description and difficult movement analysis,its kinematics model is built,a method of two - step gait planning is given based ZMP criterion,gait planning is carried for forward movement and robot joint motion trace is gotten by using the method of three order spline interpolation function. The simulation model of the robot is built through SimMechanics toolbox in Matlab software, simulation results validate feasibility of gait planning,a theoretical basis is provided for the development of the prototype.关键词
双足机器人/步态规划/运动学/仿真Key words
biped robot/ gait planning/ kinematics / simulation分类
信息技术与安全科学引用本文复制引用
董金波..双足机器人步态规划与运动学仿真研究[J].机械与电子,2011,(7):66-69,4.基金项目
黑龙江科技学院青年基金(07-06) （07-06）
