机械科学与技术2026，Vol.45Issue(3)：381-391,11.DOI:10.13433/j.cnki.1003-8728.20240061
面向变化地形的双足机器人动态直膝行走模式快速生成
Fast Generation of Walking Pattern of Biped Stretched-knees-gait for Variable Terrains
摘要
Abstract
An efficient dynamic straight-knee walking pattern generation method for bipedal robots on changing terrains is proposed.The method consists of two steps:path optimization and speed planning.In the path planning phase,a path encoded by low-dimensional parameters defined in the hybrid kinematic coordinate domain is used to describe the walking process.The present hybrid kinematic coordinate representation naturally ensures a straight-knee state for the supporting leg and prevents the swing leg from colliding with the ground in the single support phase.To obtain the locally dynamically feasible whole-body motion paths,the parameters of the torso's horizontal motion path with the objective of minimizing the single-step time is optimized,and the parameters of the swing foot path with the objective of maximizing the stability margin in transition frames is also optimized.After obtaining the path,an improved sparse grid forward-backward algorithm is used for speed planning to ensure that it satisfies the dynamic constraints.In a simplified bipedal system simulation experiment with 15 degrees of freedom,the present method can generate the dynamic straight-knee walking trajectories that can adapt to different terrain changes within 2.5 ms.关键词
双足系统/轨迹优化/在线优化Key words
biped robot/tajectory optimization/online optimization分类
信息技术与安全科学引用本文复制引用
许森,丁烨..面向变化地形的双足机器人动态直膝行走模式快速生成[J].机械科学与技术,2026,45(3):381-391,11.基金项目
国家自然科学基金项目(91948302) （91948302）
