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

来源：Robot, 2017, 39(5): 751-758.

DOI：10.13973/j.cnki.robot.2017.0751

• Gait planning
• Measurement system
• Multi-link model
• Planning algorithms
• Planning method
• Save energy
• ZMP (zero moment point)
• ZMP trajectory

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 energy. Firstly, a measurement system is designed to measure the data of humans including the ZMP trajectory and the waist trajectory. Secondly, a new gait planning method which includes presetting the allowable ZMP region is proposed through analyzing human data. Thirdly, the new planning method is applied to the multi-link model based gait planning method. Finally, the feasibility of the proposed method is verified by simulation and experiments.

• 出版日期2017
• 单位北京理工大学