CAJ | 학술논문

为了增强机器人的行走效率，使机器人的步态更自然，且具有良好适应复杂路况的特点，设计了一款双足机器人研究平台，并建立双足机器人行走机构的运动学模型，同时对机器人的前向运动进行了步态规划，从而提高了机器人运动过程中的稳定性。采用三次样条插值方法得到机器人各关节的平滑运动轨迹。
위료증강궤기인적행주효솔，사궤기인적보태경자연，차구유량호괄응복잡로황적특점，설계료일관쌍족궤기인연구평태，병건립쌍족궤기인행주궤구적운동학모형，동시대궤기인적전향운동진행료보태규화，종이제고료궤기인운동과정중적은정성。채용삼차양조삽치방법득도궤기인각관절적평활운동궤적。
In order to enhance the efficiency of the biped robot, make the robot has a more natural gaitand has good features to adapt to complex road, a biped robot research platform is designed, and a bipedal robot kinematics model is set up, the forward movement of bipedal robot gait is planned, so as to improve the stability of the robot motion process. The cubic spine interpolation is used to get smooth motion trajectory of the robot joints.