A Smooth and Efficient Gait Planning for Humanoids Based on Human ZMP

作     者：YANG Tianqi ZHANG Weimin HUANG Qiang CHEN Xuechao YU Zhanguo MENG Libo 

作者机构：Intelligent Robotics Institute Beijing Institute of Technology 

出 版 物：《机器人》 (Robot)

年 卷 期：2017年第39卷第5期

页      面：751-758页

核心收录：

学科分类：0808[工学-电气工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0835[工学-软件工程] 0802[工学-机械工程] 0701[理学-数学] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 0801[工学-力学（可授工学、理学学位）] 

基　　金：the National Natural Science Foundation of China(61320106012,61533004,61375103,61673069,61321002) the 863 Program of China(2015AA043202,2015AA042305) the Key Technologies R&D Program(2015BAF13B01,2015BAK35B01) the Beijing Municipal Science and Technology Project(D161100003016002) the"111"Project(B08043) 

主　　题：gait planning multi-link model allowable ZMP(zero moment point) region ZMP planning algorithm 

摘      要：Based on the ZMP(zero moment point)trajectory and the walking data of human,a new method is proposed to improve the robot walking smoothness as well as to save ***,a measurement system is designed to measure the data of humans including the ZMP trajectory and the waist ***,a new gait planning method which includes presetting the allowable ZMP region is proposed through analyzing human ***,the new planning method is applied to the multi-link model based gait planning ***,the feasibility of the proposed method is verified by simulation and experiments.