双足步行机器人关节力矩轨迹优化规划

Van-Huan Dau, C. Chew, A. Poo
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引用次数: 4

摘要

提出了一种双足机器人在平坦地形上行走的轨迹规划新方法。在该方法中,利用多项式插值在笛卡尔空间中设计髋部和足部轨迹。采用遗传算法搜索确定髋部和足部运动轨迹的关键参数。目标是在最小关节力矩要求下获得稳定的行走轨迹。采用ZMP稳定性判据保证行走运动的物理可实现性。通过对一个名为NUSBIP-II的人形机器人的仿真验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Optimized Joint-Torques Trajectory Planning for Bipedal Walking Robots
This paper proposes a new method of trajectory planning for biped robots walking on flat terrain. In this approach, the hip and foot trajectories are designed in Cartesian space using polynomial interpolation. The key parameters which define the hip and foot trajectories are searched by genetic algorithm. The objective is to obtain stable walking trajectory with minimized joint-torques requirement. ZMP stability criterion is used to ensure physically realizable walking motion. The effectiveness of our method is verified by simulation of a humanoid robot named NUSBIP-II.
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