Abstract: To reduce computation and time of the traditional gait plan method, this paper presents a stable gait planning method based on key frame similarity algorithm of humanoid robot. Through measure similarity of the gait key frame, planning the hip movement, adjusting robot’s Zero Moment Point(ZMP), it implements on-line gait generation of curve walking and the adjustment gait can better approximation actual ZMP curve. Practice result shows that this method can solve the gait of a humanoid robot stable and rapid planning at the same time in reducing computation, and it can reduce time consumption when gait selection is not ideal.

Key words: humanoid robot, key frame, Zero Moment Point(ZMP), gait planning

摘要： 为解决传统步态规划方法运算量大、运行时间长的问题，提出一种基于关键帧相似性的仿人机器人步态规划方法，通过对步态关键帧的相似性度量、髋关节的规划、零力矩点(ZMP)的实时校正，实现仿人机器人曲线行走步态的在线调整，调整后的步态能够较好地逼近实际ZMP曲线。实践结果表明，该方法在降低运算量的同时较好解决了仿人机器人的步态稳定及快速规划问题，并且可以减少步态选择不理想时的时间消耗。

关键词: 仿人机器人, 关键帧, 零力矩点, 步态规划

CLC Number: 

• TP393