一种基于中心模式生成器的改进双足机器人步态规划方法

2015 IEEE International Conference on Information and Automation Pub Date : 2015-10-01 DOI:10.1109/ICINFA.2015.7279533

Xue Zhang, Jing Xiong, Shaokui Weng, Huang Li, Ming Chen, Yangzhou Gan, Qunfei Zhao, Zeyang Xia

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引用次数: 1

摘要

步态规划是基于采样的双足机器人步态规划的关键。然而，传统的零力矩点和神经网络的步态规划方法耗时长，而且现有的基于中枢模式生成器(CPG)的方法只能生成向前移动的步态。在相位和轨迹分析的基础上，提出了一种基于CPG的改进步态规划方法，用于基于采样的步态规划。通过调整CPG的参数，可以获得不同的前进、侧步和转向步态，并实现步态之间的平稳过渡。在NAO机器人上的物理实验验证了该方法的有效性。

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A modified gait planning method for biped robot based on central pattern generators

The gait planning is essential in the sampling-based footstep planning of biped robot. However, conventional gait planning methods of Zero Moment Point and neural networks are much time-consuming, and existing central pattern generator (CPG) based method can only generate the gait of going forward. Based on the phase and trajectory analysis, this paper proposes a modified gait planning method based on CPG for the sampling-based footstep planning. By adjusting the parameter of the CPG, it is available to obtain different gaits of going forward, stepping side and swerving, and realize smooth transition between these gaits. Physical experiments on NAO robot verified the effectiveness of the proposed method.

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2015 IEEE International Conference on Information and Automation

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