论文部分内容阅读
本文给出一种基于主-从控制实现双足机器人动步态行走的控制方法.该方法计算量小,可以在线规划步态及实现双脚支撑期平滑的动态切换.仿真及实验结果验证了方法的有效性及可行性,实现了变步态动态行走.实验所采用的装置为 HLTR—13双足机器人.该机器人重65kg,高1.1m,具有12个自由度.实验结果表明,本文给出的方法能较好地实现变步态动态行走。从而使机器人具有较强的环境适应能力.
In this paper, a control method based on master-slave control is proposed, which can realize the dynamic gait walking of biped robot. This method has the advantages of low computational complexity, online gait planning and smooth dynamic switchover between two legs. The simulation and experimental results verify The method is valid and feasible, and the dynamic walk with variable gait is realized.The device used in the experiment is HLTR-13 biped robot, weighing 65kg, height 1.1m and having 12 degrees of freedom.The experimental results show that this paper The method can achieve a better walking dynamic gait change. So that the robot has a strong ability to adapt to the environment.