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中文摘要：
为了进一步提高仿人机器人步行时的稳定性,通过对人类步行的研究,并从两足步行机的两步步态规划方法中得到启发,对仿人机器人步行也进行类似的两步规划,但由于结构上的不同,仿人机器人中采用加入上肢运动补偿的方式实现平衡。规划仿人机器人的运动姿态,然后根据零力矩点必须落在稳定区域的原则,对仿人机器人的上肢运动轨迹进行求解,通过这种加入上肢补偿的两步规划来实现仿人机器人的稳定步行。从实验结果可以看出,采用这种两足步态规划方法,在仿人机器人两足步行时,可以使机器人上肢与下肢协调运动,从而提高了步行的稳定性。
英文摘要：
In order to improve stability of walking of humanoid robot, inspired by research on the human walking and two-step gait planning of two-legged walking machine, the similar method is used for humanoid robot, but with upper limb compensation for their different structure. When a humanoid robot walks, firstly plan the posture movement of the humanoid robot, and then plan the upper limb movement based on the rule that zero moment point must be in the stability area. That is humanoid robot two-step gait planning through upper limb movement compensation. The experimental result shows that this gait planning method can make the humanoid robot walk more steadily through cooperation of the upper limbs and lower limbs like human and it also improves stability of its walking.
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