Walking Motion Generation and Validation of Biped Humanoid Robot
Walking motion generation and validation have been a significant issue for biped humanoid robot.To generate more natural walking motions,and confirm the validity rapidly,this paper presents work on walking motion planning and validity verifying.Based on spline interpolation method,the walking motions in both sagittal and lateral planes are generated.Dynamic model is constructed with the toolbox of SimMechanics for Matlab,and the interactive forces between robots sole and ground are constrained in order to depict the state of balance.Dynamic model is driven by the walking motions which have been generated.The simulation and analysis demonstrate the validity of the motion which has been designed.
Humanoid robot Walking motion plan Walking motion validation
Bo Tu Dan Pu Zhao Xian Qing Tai
Institute of Automation,Chinese Academy of Sciences95 Zhongguancun East Road,100190,BEIJING,CHINA
国际会议
广州
英文
1386-1390
2012-11-16（万方平台首次上网日期，不代表论文的发表时间）