The issue about turning gait planning of humanoid robots is discussed. Blackmann-II as a new generation humanoid robot developed in our lab is introduced firstly, including the improvement based on Blackmann, dimension parameters and DOF configuration. Then the methods of turnning gait planning for humanoid robots and the key problems involved are analyzed, including trajectory interpolation of key points and inverse kinematics solving. Next the process of turnning gait planning for humanoid robots are given in detail. Finally, the computer simulation and experiment of turning motion with Blackmann-II humanoid robot developed in our lab are presented. From the result of simulation and experiment, the validation and feasibility of the method based on geometrical constraints together with modification and compensation for turning gait planning proposed in the paper are proved.
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