机械与电子Issue(9)：62-65,4.
基于反馈控制的仿人机器人步态规划
Humanoid Robot Gait Planning Based on the Feedback Control
摘要
Abstract
In order to solve the problem that robot is difficult to track the desired gait in the hu-manoid robot off - line gait planning, create the three - link humanoid robot model and use La-grange mechanics to analysis the robot dynamics, including single leg support, double legs support and the overall support of the walk model, on this basis, propose hybrid system output as a function of the robot gait planning, design a feedback controller to adjust the actual robot gait in real time. The simulation results show that the designed feedback controller can adjust the gait well.关键词
反馈控制/仿人机器人/步态规划/动力学Key words
feedback control/ humanoid robot/ gait planning/ dynamics分类
信息技术与安全科学引用本文复制引用
李正文,张国良,张维平..基于反馈控制的仿人机器人步态规划[J].机械与电子,2011,(9):62-65,4.
