广东工业大学学报2012，Vol.29Issue(1)：50-54,5.
一种仿人机器人步态优化的新方法研究
Gait Optimizing of Humanoid Robots Using a New Method
徐李超 1张祺1
作者信息
- 1. 广东工业大学自动化学院,广东广州510090
- 折叠
摘要
Abstract
It uses the seven-link model for humanoid robots to establish the robot posture vector. First, a polynomical equation with five parameters was used to fit the robot hip's curves, and then a non-time reference variable was used to work out the robot's ankle and knee trajectories. In the region where the robot can walk stably, the maximum distance for the robot's ZMP deviation from the foot center was obtained by using the genetic algorithm. At the same time, the parameters of the hip were determined to optimize the humanoid robot gait. Experimental results show that this method is effective.关键词
仿人机器人/非时间参考/遗传算法/步态优化Key words
humanoid robots/ non-time reference/ genetic algorithm/ gait optimization分类
信息技术与安全科学引用本文复制引用
徐李超,张祺..一种仿人机器人步态优化的新方法研究[J].广东工业大学学报,2012,29(1):50-54,5.
