全方位六足步行机器人运动规划的相对运动算法

本文提出了步行机器人运动控制算法。该方法以相对运动学原理为基础,把机体的运动规划问题转化为腿的足端轨迹规划问题,从而使步行机器人运动控制问题得到大大简化.并应用该方法对全方位三角步态算法及稳定性进行分析求解.

In this paper,based on the relative motion theorem,a motion algorithm for walking robot is presented.The algorithm transforms body motion trajectory into foot trajectory,therefore motion control for walkingrobot is greatly simplified.With this method,solutions are carried out for the omnidirectional tripod controlalgorithm and gait stability.