基于运动约束与最小能耗的平面腿型跳跃机器人稳定跳跃步态生成算法

摘要

针对在规则平面运动的腿型跳跃机器人跳跃运动轨迹规划问题，在考虑脚掌转动的情况下，引入运动约束条件，以机器人完整跳跃周期最小能耗作为最优目标函数，以此生成稳定步态生成算法，从而求解出机器人各个主动关节的最佳运动轨迹。%according to the rules of leg type in plane motion jump jumping motion trajectory planning problems,in con-sideration of the rotation of the foot,and imported the kinematic constraint conditions,completed a minimum energy con-sumption cycle jumping robot as the optimal objective function in order to generate stable gait generation algorithm,thus solving the optimal trajectory of each active joint of the robot.