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Trajectory Planning and Inverse Kinematics Solver for Real Biped Robot with 10 DOF-s

机译：具有10 DOF-s的实际Biped机器人的轨迹规划和逆运动学求解器

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Abstract: This work deals with the stability analysis of two legged (humanoid) robots during walking. This research area is characterized by the fact that there are a lots of publications, a method for synthesizing the gait of a planar biped walking on level ground is presented. Both the single support phase (SSP) and the double support phase (DSP) are considered. A complete step can be divided into a SSP and a DSP. The SSP is characterized by one limb (the swing limb) moving in the forward direction while another limb (the stance limb) is pivoted on the ground. This phase begins with the swing limb tip leaving the ground and terminates with the swing limb touching the ground. Its time period is denoted as TS. In the DSP, both lower limbs are in contact with the ground while the upper body can move forward slightly. The time period of this phase is denoted as TD. In the following step, the roles of the swing limb and the stance limb are exchanged. It has been noticed that the joint angle profiles can be determined if compatible trajectories for the hip and the tip of the swing limb can be prescribed. Also is presented in practical implementation in a real robot.
机译：摘要：这项工作涉及两个有腿（类人）机器人在行走过程中的稳定性分析。该研究领域的特点是有许多出版物，提出了一种在平坦地面上行走的平面Biped步态的综合方法。同时考虑了单支持阶段（SSP）和双支持阶段（DSP）。一个完整的步骤可以分为SSP和DSP。 SSP的特征是一个肢体（摆动肢体）向前移动，而另一肢体（站立肢体）在地面上枢转。此阶段以摆臂尖端离开地面开始，并以摆臂接触地面结束。其时间段表示为TS。在DSP中，两个下肢都与地面接触，而上身可以稍微向前移动。此阶段的时间段表示为TD。在接下来的步骤中，将摆动肢体和站立肢体的角色互换。已经注意到，如果可以规定髋部和摆动肢体的尖端的兼容轨迹，则可以确定关节角度分布。还介绍了在实际机器人中的实际实现。

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