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仿人双足机器人的动步行需要考虑机器人的动力学特性,规划起来较为复杂。为了减少生成机器人步行样本时的计算量,本文提出了基于步行样本单元组合的运动样本生成方法。通过对步行运动进行分析,得到构成步行运动的基本单元;通过样本组合方法生成了含有后退步行的步行运动样本,仿真平均步速达到1.607 km/h。
Human walking bipedal robot walking dynamics need to consider the dynamics of the robot, planning more complex. In order to reduce the computational burden when generating a walking sample of a robot, a motion sample generation method based on walking sample unit combination is proposed in this paper. By analyzing the walking movement, the basic unit that constitutes the walking movement is obtained. The walking exercise sample with the back walking is generated by the sample combination method, and the average walking speed reaches 1.607 km / h.