Research on Rapid Walking of Biped Robot Based on Parametric Surface Table Cart Model

摘要：

Stable walking conditions are reinforced for sliding & wheelspin of robot. Deduced ZMP formula based on jerk which is introduced by 3 ranks Taylor formula. Parametric surface table cart model used for dynamics is proposed. Rapid walking pattern of biped robot is generated based on parametric surface table cart model. Finally, dynamics simulation of the 3-D virtual prototype of the biped robot is completed in the dynamic software, the walking speed is 2.088km/h.

作者: WU Wei-guo HOU Yue-yang

作者单位: Department of Machine Design,Harbin Institute of Technology,Harbin 150001,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: 463-468

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）