A novel compound biped locomotion algorithm for humanoid robots to realize biped walking-一种新型的仿人机器人双足运动算法，实现了直立行走.pdfVIP

JControl 20097(1)23-28 Theo删Appl DOl10．1 Anovel locomotionfor compoundbiped humanoidrobotstorealizewalking biped Ruiwu XIAO XIN，Nanfeng of Scienceand China of 5 (SchoolComputer University Guangdong10640，China) Engineering，South Technology，Guangzhou AbstraetInthis loeomotion forahumanoidrobotunder is paper,acompoundbiped algorithm developmentpre— sented．Thisis intwomain Inthefirst focusesonthestructuralforthe paperorganized paris part．itmainly design humanoid．Inthesecond Jocomotionis basedonthereferencemotionand part．thecompoundbiped algorithmpresented referenceZeroMomentPoin((ZMP)．Thishovel includescalculationofthe motionand of algorithm upperbody trajectory theCenterof therobot．First．disturbancesfrphitheenvironmentareelIminatedthe Gravity(CoG)of by compensational movementofthe basedontheerrorbetweenareterenceZMPandtherealZMPaswellastherelation upperbody；then betweenZMPand CoGerroris totheCoG motionoftherobot CoG，the calculated．thus】eadingtrajectory．Then，the toitsreference stable thecalculationof motionandtra一 converges motion