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BIPED ROBOT EQUIVALENT TRAJECTORY GENERATING METHOD AND BIPED ROBOT USING THE SAME
BIPED ROBOT EQUIVALENT TRAJECTORY GENERATING METHOD AND BIPED ROBOT USING THE SAME
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机译：两足机器人的等效轨迹生成方法和使用该方法的两足机器人
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摘要
The present disclosure provides an equivalent trajectory generating method for a biped robot and a biped robot using the same. The method includes: obtaining a motion state of the biped robot by a position sensor; determining switching moments in an advancing direction of the biped robot, based on the motion state of the biped robot; finding the mass center position of the biped robot at each switching moment; connecting the mass center positions at the switching moments as an equivalent trajectory of the biped robot; and performing a closed loop control on the biped robot according to the equivalent trajectory. Through the method, the overall real-time position of the robot can be obtained according to the equivalent trajectory effectively, which is advantageous to perform a stable and reliable control to the biped robot according to the equivalent trajectory of the biped robot.
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