多关节双足步行机器椅行走步态规划

根据多关节双足步行机器椅的结构特点，采用D-H法建立系统运动学模型。从构造多关节双足步行机器椅行走姿态和过程零力矩点(Zero moment point，ZMP)评价考虑，提出基于优化方法的多关节双足步行机器椅行走步态的离散化模型和方法，实现过程优化向有限变量优化的转变。基于过程稳定性评价的优化计算，结合动态步行仿真，完成双足步行机器椅的开环多连杆执行机构行走步态的合理规划。解决多关节双足步行机器椅行走步态过程稳定性评价与其开环多连杆执行机构的多变量泛函问题。提出的离散化模型对求解开环连杆机构的时空多变量泛函规划问题具有重要参考价值。

GAIT PLANNING OF POLYARTICULAR BIPED WALKING MACHINERY CHAIR

Based on the configuration of the polyarticular biped walking machinery chair,the robot kinematics model is estab- lished through D-H method.By the walking gesture of the robot and the appraisal of the zero moment point(ZMP)in walking process analysis,a discretization optimization model is pre- sented,which transforms process optimization into finite vari- able optimization.The appraisal of stability is used to optimize the walking process.Simulation study is provided on the dy- namic walking procession.Result shows that the method adopted in this gait planning is available.These results can be used for the appraisal of stability in walking process of the polyarticular biped walking machinery chair and solving the multivariate functional problems of operating-mechanism of open loop multi-connecting rods.