| 教学型双足步行机器人直线行走步态稳定规划方法 |
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| 引用本文： | 赵瑞林,孟彦京,王聪慧. 教学型双足步行机器人直线行走步态稳定规划方法[J]. 工业仪表与自动化装置, 2014, 0(5): 63-66 |
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| 作者姓名： | 赵瑞林 孟彦京 王聪慧 |
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| 作者单位： | 1. 陕西工业职业技术学院电气工程学院,陕西咸阳,712000
2. 陕西科技大学电气与信息工程学院,西安,710021 |
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| 基金项目： | 陕西省教育厅2013年自然科学专项科学研究项目“教学型双足机器人稳定性控制模式研究” |
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| 摘 要： | 通过对双足机器人行走步态的研究，利用多项式插值法对双足机器人直线行走步态进行规划，分析了踝关节轨迹和髋关节轨迹，通过调节单腿支撑期和双腿支撑期的比例系数来调整机器人的行走步态，使其实现稳定步行。再通过ADAMS建立虚拟样机仿真实验，验证了这种步态规划方法的正确性与可行性。
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| 关 键 词： | 双足机器人 步态稳定 规划方法 ADAMS仿真 |
Research on teaching of biped walking robot walking stable gait planning method of straight line |
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| ZHAO Ruilin,MENG Yanjing,WANG Conghui. Research on teaching of biped walking robot walking stable gait planning method of straight line[J]. Industrial Instrumentation & Automation, 2014, 0(5): 63-66 |
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| Authors: | ZHAO Ruilin MENG Yanjing WANG Conghui |
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| Affiliation: | ZHAO Ruilin,MENG Yanjing,WANG Conghui(1. College of Electrical Engineering,Shannxi Poletechnie Institute,Shannxi Xianyang 712000, China; 2. School of Electrical and Information Engineering, Shannxi University of Science and Technology ,Xi＇ an 710021, China) |
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| Abstract: | Through the research on biped robot walking gait, straight walking gait planning of biped robot using polynomial interpolation method, analysis of the ankle joint trajectory and hip joint trajectory, by adjusting the proportion coefficient of phase of double support and phase of single leg support to adjust the robot walking gait, to achieve stable walking.Then through the ADAMS to establish virtual prototype simulation, validate the correctness and feasibility of this kind gait planning method. |
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| Keywords: | biped robot gait stability planning method ADAMS simulation |
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