中文摘要：

以实现仿人机器人稳定快速的全方位步行运动为目的,针对现有多体动力学模型描述的复杂性缺陷,及其他全方位运动策略不考虑步幅连接的问题,采用通用的运动学参数描述机器人的单步运行过程,并提出全新的全方位运动小车模型以描述步幅间连接约束,进而给出了步幅间过渡算法.在将全方位步行参数化的基础上,提出一种标准工况作为全方位运动的性能评价指标.通过动力学仿真和样机实验验证了该方法的有效性以及步幅连接算法存在的必要性.

英文摘要：

In order to realize the stable and rapid omni-directional walking gait, and overcome such shortcomings as com- plexity in multi-rigid-body dynamics model and ignorance of step connections in other omni-directional motion strategies, a general kinematic parametric outline is proposed to describe a single step, and constraints among paces are described based on a newly reported omni-directional vehicle model. An inter-step transition algorithm is generated with these constraints. A standard working condition is also provided to evaluate the quality of omni-directionai gait. Dynamics simulation and physical robot experiments prove the validity of the method, as well as the necessity of inter-step transition algorithm.