仿人机器人斜坡行走的步态规划

为了解决双足机器人在复杂路面的行走问题，提出了一种具体的基于几何约束的机器人斜坡行走步态规划方法。通过对机器人行走的起步阶段，单脚支撑期中摆动腿对机器人身体稳定的影响，以及行走步态流程进行了详细的规划，以机器人Nao为研究对象，构建出了机器人的连杆模型，计算出机器人在前向和侧向运动中保证身体稳定的踝关节约束范围，分析了流程图中机器人各行走步态，并计算出各步态中关节角度变化，从而规划出了机器人Nao从起步到结束行走的过程。运用三次多项式插值的方法使得各关节运动平滑稳定，并根据规划中的各个步态运动利用MATIAB仿真，获得机器人在步行过程中X、Y、Z方向上的质心轨迹，并通过x、y方向的轨迹可以看出机器人行走过程重心稳定，从而证明此方法用于机器人斜坡行走的可行性。

Gait Planning of Humanoid Robots Walking on Slope

In order to solve the walking robot gait programming problems, put forward a certain meaning robot slope gait programming method of walking. Plan in detail the walking robot in the beginning of walking, one foot swinging leg to support the robot body stabi- lized, and the influence of the walking gait process. Nao robot as the research object, construct the link model of robot, calculate the robot forward and lateral movement to ensure st,xble ankle range bound body, and analyze the flowchart of each gait of the walking robot, and calculate the gait of the joint angle changes,thus planning out the Nao robot from the start to end the process of walking. At the same time using 3rd polynomial interpolation method makes the motions of joint smooth stabilized, and according to each of the movement of the joints of gait use MATLAB simulation to gain a track of the center stabilized of walking robot in the process of the X,Y,Z direction. So as to reduce the movement process of joints to loss and the sole of the foot impact with ground,makes the robot can walk on the slope sta- bilized, proving this method is feasible.