Smooth Joint Trajectory Planning for Humanoid Robots Based on B-Splines

摘要：

To guarantee the walking stability of humanoid robots, a new joint trajectory planning method is proposed. First, to map the trajectory of task space into the trajectory of joint space, a numerical algorithm of inverse kinematics is used to obtain the time sequences of joint angle. In this algorithm, the return values calculated by forward kinematics are compared with the expected pose repeatedly until the error is less than the threshold value. Then seven-degree B-splines are exploited to generate smooth joint trajectories with continuous velocity, acceleration and jerk. By representing kinematics constraints of humanoid robot with control points of B-splines, the motion parameters of both endpoints of the trajectory can be set to desired values. Simulation results show that by using the proposed joint trajectory planning method, smooth trajectories with continuous jerk can be obtained and these trajectories can be used to generate stable walk motion.

作者: Wenxiang Wu Shiqiang Zhu Songguo Liu

作者单位: State Key Lab of Fluid Transmission and Control,Zhejiang University,Hangzhou,310027,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 475-479

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）