机械与电子Issue(9)：3-7,5.
12自由度双足机器人的开发与步态规划研究
The Development of a 12 DOF Biped Robot and Gait Planning Research
摘要
Abstract
Aiming at a new humanoid 12 DOF biped robot,this paper fist introduces the robot's mechanical design made by SolidWorks, specifically discusses the composition of the biped robot' s mechanical body, degree of freedom configuration and the anthropomorphic design of the joints and transmission system. Then this paper mainly focuses on a off - line gait planning method. According to this method, the biped robot's frontal gait and lateral gait are simplified as a seven - link model and a five - link model respectively. The models are analyzes by geometries separately and the two gaits are synthesized to a three - dimensional gait in the case of equal Z coordinate. In the end, the method' s effectiveness are verified through the ZMP equa-tions and Simulation under the Matlab environment.关键词
双足机器人/机构设计/步态规划/ZMP方程Key words
biped robot/ mechanical design/ gait planning/ZMP equations分类
信息技术与安全科学引用本文复制引用
孙飞,居鹤华..12自由度双足机器人的开发与步态规划研究[J].机械与电子,2011,(9):3-7,5.基金项目
国家自然科学基金资助项目(60374067) （60374067）
