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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.
This paper presents a walking robot motion control algorithm. Based on the principle of relative kinematics, this method transforms the motion planning of the body into the trajectory planning of the foot of the leg, so that the motion control of the walking robot can be greatly simplified, and the application of this method to the full-scale triangular gait algorithm and its stability Sex analysis and solution.