作者：何乙琦，虞益龙
单位：常州刘国钧高等职业技术学校，江苏常州 213025
中图分类号：TP242.3     
文献标识码：A       
文章编号：1006-883X(2016)11-0007-06
收稿日期：2016-10-12

摘要：首先设计了两足步行机器人的本体结构，并选择舵机作为驱动源。然后，基于广义坐标对该机器人进行了运动学建模，该方法运算简便、直观易懂。重点讨论了动态步行的算法设计，详细分析了基于零力矩点的仿人机器人动态步行运动规划方法。结合机器人的几何约束和运动约束，推导机器人参数化步态设计的推导公式，机器人步态的参数化设计大大方便了机器人的运动学和动力学分析。最后,介绍了运动规划的实验设计，并对关节调试作了总结和分析，指出了存在的问题和解决的办法。
关键词：两足步行机器人；平衡稳定性；步态规划；静态步行；动态步行

Design of a servo -controlled  walking robot system
HE Yi-qi, YU Yi-long
Changzhou Liu Guojun Vocational Technology College, Changzhou 213025, China
Abstract: At first, the mechanical architecture of biped robot with servo as driving unit is designed in this paper. Then, the kinematical modeling is done to the robot based on generalized coordinates. This method is easy in calculation and comprehension. The emphasis of the paper is laid on the algorithm used for design of dynamic walking motion. The dynamic motion planning method based on ZMP (Zero Moment Point) is analyzed in detail. Then,  the equation of robots walking pattern based on parameter is derived by making use of geometry restrains and walking restrains. The walking pattern designed based on parameters  predigests the kinematics and dynamics analyses obviously. In the end, the experiment design of the motion plan is introduced and  the joint debugging is summarized and analyzed. The existing problems are pointed out and the solutions are given.
Keywords: biped walking robot; stability gait planning; gait planning; static walking; dynamic walking

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备注：2016年 第22卷 第11期