CAJ | 학술논문

通过对双足机器人行走步态的研究，利用多项式插值法对双足机器人直线行走步态进行规划，分析了踝关节轨迹和髋关节轨迹，通过调节单腿支撑期和双腿支撑期的比例系数来调整机器人的行走步态，使其实现稳定步行。再通过ADAMS建立虚拟样机仿真实验，验证了这种步态规划方法的正确性与可行性。
통과대쌍족궤기인행주보태적연구，이용다항식삽치법대쌍족궤기인직선행주보태진행규화，분석료과관절궤적화관관절궤적，통과조절단퇴지탱기화쌍퇴지탱기적비례계수래조정궤기인적행주보태，사기실현은정보행。재통과ADAMS건립허의양궤방진실험，험증료저충보태규화방법적정학성여가행성。
Through the research on biped robot walking gait, straight walking gait planning of biped robot using polynomial interpolation method, analysis of the ankle joint trajectory and hip joint trajectory, by adjusting the proportion coefficient of phase of double support and phase of single leg support to adjust the robot walking gait, to achieve stable walking.Then through the ADAMS to establish virtual prototype simulation, validate the correctness and feasibility of this kind gait planning method.