Gait planning of polyarticular biped walking machinery chair

摘要

Based on the configuration of the polyarticular biped walking machinery chair,the robot kinematics model is estab- lished through D-H method.By the walking gesture of the robot and the appraisal of the zero moment point(ZMP)in walking process analysis,a discretization optimization model is pre- sented,which transforms process optimization into finite vari- able optimization.The appraisal of stability is used to optimize the walking process.Simulation study is provided on the dy- namic walking procession.Result shows that the method adopted in this gait planning is available.These results can be used for the appraisal of stability in walking process of the polyarticular biped walking machinery chair and solving the multivariate functional problems of operating-mechanism of open loop multi-connecting rods.