两足机器人JFHR的参数化步态设计

在建立两足机器人前向平面七杆动力学模型和侧向平面五杆动力学模型的基础上 ,对机器人的步态用步速、步长和跨高三变量进行了参数化设计 ;根据两足机器人动态步行稳定性的条件 ,利用上身的前后摆动和左右晃动分别对前向平面和侧向平面进行动态补偿 ;通过对迈步腿质心进行抛物线运动规划 ,使两足机器人在动态步行时达到侧向自平衡 ,从而消除了前向和侧向模型的偶合误差 ;最后 ,对两足机器人的步态用一组参数进行设计 ,并进行了动态仿真。

The Parametric Design of the Gait of the Biped Robot

Based on the 7 link dynamic model in the sagittal plane and the 5 link dynamic model in the Lateral plane,the parametric gait of the biped robot has been designed using walking velocity,step length and height;According to the condition of the stability,body swings forward and backward to dynamically balance in sagittal plane and the whole biped swings left and right to dynamically balance in lateral plance;In the parametric design,motion of the swing leg of biped robot is planned into a parabola to keep self balance in lateral plane and avoid coupling error;Finally,the simulation of walking dynamically was presented using a team of parameters.