发明名称 JOINT TRAJECTORY GENERATION OF HUMANOID ROBOT'S LOWER EXTREMITY FOR HUMAN-LIKE BIPED WALKING
摘要 Provided is a method for generating a lower extremity joint trajectory of a humanoid robot for humanlike biped walking which allows a robot to walk like a human being by expressing trajectory data of a lower extremity angle measured at the time of natural walking of human being into a parameter using a polynomial expression and changing the trajectory data to correspond to a structure of lower extremity trajectory of a robot. The method for generating a lower extremity joint trajectory of a humanoid robot for humanlike biped walking includes: (A) a step of planning a two-step walking pattern to divide a cycle walking of a humanoid robot into a double support and a single support; (B) a step of approximating a joint angle trajectory (data) measured at the time of human walking using a polynomial function; (C) a step of adjusting the joint angle trajectory of human approximated using the polynomial function to correspond to a structure of lower extremity of the humanoid robot; and (D) a step of adjusting at least one among walking speed and pace of the humanoid robot by adjusting the parameter of lower extremity joint angle trajectory measured at the time of walking of human.
申请公布号 KR20150076743(A) 申请公布日期 2015.07.07
申请号 KR20130165293 申请日期 2013.12.27
申请人 DONG-A UNIVERSITY RESEARCH FOUNDATION FOR INDUSTRY-ACADEMY COOPERATION 发明人 KIM, JONG WOOK
分类号 B25J13/00;B25J9/10;G05D1/08 主分类号 B25J13/00
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