Trajectory synthesis and physical admissibility for a biped robot during the single-support phase
Trajectory synthesis and physical admissibility for a biped robot during the single-support phase
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DOI：
10.1109/robot.1990.126246
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发表时间：
1990-05
期刊：
影响因子：
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通讯作者：
C. Shih;Y. Z. Li;S. Churng;Tsu-Tian Lee;W. Gruver
中科院分区：
文献类型：
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作者：
C. Shih;Y. Z. Li;S. Churng;Tsu-Tian Lee;W. Gruver
讨论了单支撑阶段的机器人步行轨迹的综合与验证问题。该机器人被建模为一个七连杆十二自由度拟人机器人。利用零力矩点（ZMP）和等效力矩来表征自由行走的物理容许性。对于在单支撑阶段期间物理上可实现的行走，ZMP在地面上的轨迹必须在支撑鞋底的稳定区域内。通过逆运动学推导出由8个方向图参数确定的仿人步行轨迹。给出了不同步行模式下的ZMP轨迹以及模式参数对ZMP轨迹的影响。
The synthesis and verification of biped walking trajectories during the single-support phase is discussed. The biped is modeled as a seven-link twelve degree-of-freedom anthropomorphic robot. By utilizing the zero moment point (ZMP) and the equivalent force-moment, the physical admissibility of the biped walking is characterized. For physically realizable walking during the single-support phase, the trajectory of the ZMP on the ground must be inside the stable region of the supporting sole. A biped walking trajectory specified by eight pattern parameters is derived through inverse kinematics. ZMP trajectories for different walking patterns and the influence of the pattern parameters on the ZMP trajectories are presented.>