两点式双足步行机器人步态规划方法及其实验研究
Gait Planning and experiment research of Two-Point-Foot Walking Robot
本文首先针对两点式双足步行机器人样机建立运动学模型；其次，提出约束条件，求取机器人一个步行周期中始末与COP切换瞬间步行姿态；然后，利用三次样条插值法获得机器人各关节参考轨迹；接着，提出了基于躯干姿态传感的步行控制方法；最后，在机器人样机上开展了实时步行实验。研究表明，该步态规划方法是可行的。
Firstly，the paper establishes kinematics model of Two-Point-Foot Walking Robot prototype. Secondly，constraint condition is proposed to acquire crucial gait in model space; Thirdly，joint trajectory is obtained according to cubic spline interpolation; Then a kind of control method of joint based on pitch angle of the robot is presented. Finally, real-time walking experiment on the robot prototype is conducted. It verifies that the proposed gait planning method is feasible.
罗翔、马冬
机电一体化机械学自动化技术、自动化技术设备
双足步行机器人步态规划三次样条插值基于传感实时步行
wo-Point-Foot Walking RobotGait planningCubic spline interpolationBased on sensingReal-time walking
罗翔,马冬.两点式双足步行机器人步态规划方法及其实验研究[EB/OL].(2017-03-20)[2025-07-23].http://www.paper.edu.cn/releasepaper/content/201703-240.点此复制
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