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以实时控制和步态轨迹优化为角度,分析了双足机器人单腿支撑阶段跟踪误差在线修正方法,根据ZMP和Co M之间的数学关系计算实际ZMP,得到ZMP和Co M偏差,根据偏差在线修正优化机器人步态轨迹,达到实时控制的目的,确保机器人行走的稳定性。
Based on the real-time control and gait trajectory optimization, an online correction method for tracking error of biped robot with single leg support is analyzed. The actual ZMP is calculated according to the mathematical relationship between ZMP and Co M, and the deviation between ZMP and Co M is obtained. Correct and optimize robot gait trajectory, to achieve the purpose of real-time control to ensure the stability of the robot walking.